How do you identify the specific angle with the values given in my code?
#include "Wire.h"
#include "Arduino.h"
#include "SoftwareSerial.h"
const int MPU_ADDR=0x68; // I2C address of the MPU-6050. If AD0 pin is set to HIGH, the I2C address will be 0x69.
int16_t accelerometer_x, accelerometer_y, accelerometer_z; // variables for accelerometer raw data
int16_t gyro_x, gyro_y, gyro_z; // variables for gyro raw data
int16_t temperature; // variables for temperature data
char tmp_str[7]; // temporary variable used in convert function
char* convert_int16_to_str(int16_t i) { // converts int16 to string. Moreover, resulting strings will have the same length in the debug monitor.
sprintf(tmp_str, "%6d", i);
return tmp_str;
}
void setup()
{
Serial.begin(9600);
Wire.begin();
Wire.beginTransmission(MPU_ADDR); // Begins a transmission to the I2C slave (GY-521 board)
Wire.write(0x6B); // PWR_MGMT_1 register
Wire.write(0); // set to zero (wakes up the MPU-6050)
Wire.endTransmission(true);
}
void loop()
{
Wire.beginTransmission(MPU_ADDR);
Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H) [MPU-6000 and MPU-6050 Register Map and Descriptions Revision 4.2, p.40]
Wire.endTransmission(false); // the parameter indicates that the Arduino will send a restart. As a result, the connection is kept active.
Wire.requestFrom(MPU_ADDR, 7*2, true); // request a total of 7*2=14 registers
// "Wire.read()<<8 | Wire.read();" means two registers are read and stored in the same variable
accelerometer_x = Wire.read()<<8 | Wire.read(); // reading registers: 0x3B (ACCEL_XOUT_H) and 0x3C (ACCEL_XOUT_L)
accelerometer_y = Wire.read()<<8 | Wire.read(); // reading registers: 0x3D (ACCEL_YOUT_H) and 0x3E (ACCEL_YOUT_L)
accelerometer_z = Wire.read()<<8 | Wire.read(); // reading registers: 0x3F (ACCEL_ZOUT_H) and 0x40 (ACCEL_ZOUT_L)
temperature = Wire.read()<<8 | Wire.read(); // reading registers: 0x41 (TEMP_OUT_H) and 0x42 (TEMP_OUT_L)
gyro_x = Wire.read()<<8 | Wire.read(); // reading registers: 0x43 (GYRO_XOUT_H) and 0x44 (GYRO_XOUT_L)
gyro_y = Wire.read()<<8 | Wire.read(); // reading registers: 0x45 (GYRO_YOUT_H) and 0x46 (GYRO_YOUT_L)
gyro_z = Wire.read()<<8 | Wire.read(); // reading registers: 0x47 (GYRO_ZOUT_H) and 0x48 (GYRO_ZOUT_L)
if (accelerometer_x < 1000 && accelerometer_y < -8000) {
Serial.print('1');
}
else if (accelerometer_x < 1000 && accelerometer_y > 8000){
Serial.print('2');
}
else if (accelerometer_x > 6000 && accelerometer_y < 5000) {
Serial.print('3');
}
else if (accelerometer_x < -8000 && accelerometer_y < 600) {
Serial.print('4');
}
Serial.print('0');
delay(2000);
}