Gyroscope/servomoteur problème

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19

Ne me tapes pas ^^ sinon j'ai essayé avec ton code en ajoutant les trucs sur le servo...

#include "I2Cdev.h"
#include "MPU6050.h"
#include <Servo.h>
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
    #include "Wire.h"
#endif
Servo myservo;
MPU6050 accelgyro;
int16_t ax, ay, az;
int16_t gx, gy, gz;
int capteur = A0;
int valeur;

#define OUTPUT_READABLE_ACCELGYRO

#define LED_PIN 13
bool blinkState = false;

void setup() {
    #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
        Wire.begin();
    #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
        Fastwire::setup(400, true);
    #endif

 
    Serial.begin(38400);
    Serial.println("Initializing I2C devices...");
    accelgyro.initialize();
    Serial.println("Testing device connections...");
    Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
    pinMode(LED_PIN, OUTPUT);
}

void loop() {

    accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
    delay (500);
    #ifdef OUTPUT_READABLE_ACCELGYRO
        
        Serial.print("a/g:\t");
        Serial.print(ax); Serial.print("\t");
        Serial.print(ay); Serial.print("\t");
        Serial.print(az); Serial.print("\t");
        Serial.print(gx); Serial.print("\t");
        Serial.print(gy); Serial.print("\t");
        Serial.println(gz);
    #endif

    #ifdef OUTPUT_BINARY_ACCELGYRO
        Serial.write((uint8_t)(ax >> 8)); Serial.write((uint8_t)(ax & 0xFF));
        Serial.write((uint8_t)(ay >> 8)); Serial.write((uint8_t)(ay & 0xFF));
        Serial.write((uint8_t)(az >> 8)); Serial.write((uint8_t)(az & 0xFF));
        Serial.write((uint8_t)(gx >> 8)); Serial.write((uint8_t)(gx & 0xFF));
        Serial.write((uint8_t)(gy >> 8)); Serial.write((uint8_t)(gy & 0xFF));
        Serial.write((uint8_t)(gz >> 8)); Serial.write((uint8_t)(gz & 0xFF));
    #endif

    
    blinkState = !blinkState;
    digitalWrite(LED_PIN, blinkState);
    
    valeur = analogRead(capteur);
    valeur = map(valeur, 0, 1023, 0, 178);                
    myservo.write(valeur);              
    delay(15);                                                    
    myservo.write(valeur);               
    delay(15);                    
    
}