Senti, io non ci capisco nulla di programmazione, ho preso un codice trovato in internet e sto cercando i adattarlo alle mie esigenze, ti posto il codice e poi vediamo, ovviamente sarà "sporchissimo" e ci saranno righe inutili.... credevo fosse molto semplice... quello che ho aggiunto io è alla fine del codice... il programma prevede anche che, con un sensore di luminosità, accenda le luci posteriori e poi con il progredire dell'oscurità quelle anteriori... GRAZIE
int led = 7;
int led1 = 8;
int led2 = 9;
int val=0;
int val1=0;
int val2=0;
int analogInPin = A0;
int sensorValue1 = 0;
int setvalueP = 0;
int setvalueR = 0;
int buttonpin=11; //
int ledstatus=0;
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
//#include "MPU6050.h" // not necessary if using MotionApps include file
// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
// is used in I2Cdev.h
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
#include "Wire.h"
#endif
#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6)
bool blinkState = false;
// MPU control/status vars
bool dmpReady = false; // set true if DMP init was successful
uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount; // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer
// orientation/motion vars
Quaternion q; // [w, x, y, z] quaternion container
VectorInt16 aa; // [x, y, z] accel sensor measurements
VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements
VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements
VectorFloat gravity; // [x, y, z] gravity vector
float euler[3]; // [psi, theta, phi] Euler angle container
float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
// packet structure for InvenSense teapot demo
uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };
volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
void dmpDataReady() {
mpuInterrupt = true;
}
void setup() {
pinMode(led, OUTPUT);
pinMode(led1, OUTPUT);
pinMode(led2, OUTPUT);
pinMode( analogInPin, INPUT);
pinMode(buttonpin , INPUT);
digitalWrite(led, ledstatus);
// join I2C bus (I2Cdev library doesn't do this automatically)
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
Wire.begin();
TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz)
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
Fastwire::setup(400, true);
#endif
Serial.begin(115200);
while (!Serial); // wait for Leonardo enumeration, others continue immediately
// initialize device
Serial.println(F("Initializing I2C devices..."));
mpu.initialize();
// verify connection
Serial.println(F("Testing device connections..."));
Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
// load and configure the DMP
Serial.println(F("Initializing DMP..."));
devStatus = mpu.dmpInitialize();
// supply your own gyro offsets here, scaled for min sensitivity
mpu.setXGyroOffset(220);
mpu.setYGyroOffset(76);
mpu.setZGyroOffset(-85);
mpu.setZAccelOffset(1788); // 1688 factory default for my test chip
// make sure it worked (returns 0 if so)
if (devStatus == 0) {
// turn on the DMP, now that it's ready
Serial.println(F("Enabling DMP..."));
mpu.setDMPEnabled(true);
// enable Arduino interrupt detection
Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
attachInterrupt(0, dmpDataReady, RISING);
mpuIntStatus = mpu.getIntStatus();
// set our DMP Ready flag so the main loop() function knows it's okay to use it
Serial.println(F("DMP ready! Waiting for first interrupt..."));
dmpReady = true;
// get expected DMP packet size for later comparison
packetSize = mpu.dmpGetFIFOPacketSize();
} else {
//
Serial.print(F("DMP Initialization failed (code "));
Serial.print(devStatus);
Serial.println(F(")"));
}
// configure LED for output
pinMode(LED_PIN, OUTPUT);
}
void loop() {
// if programming failed, don't try to do anything
if (!dmpReady) return;
// wait for MPU interrupt or extra packet(s) available
while (!mpuInterrupt && fifoCount < packetSize) {
// other program behavior stuff here
}
// reset interrupt flag and get INT_STATUS byte
mpuInterrupt = false;
mpuIntStatus = mpu.getIntStatus();
// get current FIFO count
fifoCount = mpu.getFIFOCount();
// check for overflow (this should never happen unless our code is too inefficient)
if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
// reset so we can continue cleanly
mpu.resetFIFO();
Serial.println(F("FIFO overflow!"));
// otherwise, check for DMP data ready interrupt (this should happen frequently)
} else if (mpuIntStatus & 0x02) {
// wait for correct available data length, should be a VERY short wait
while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
// read a packet from FIFO
mpu.getFIFOBytes(fifoBuffer, packetSize);
// track FIFO count here in case there is > 1 packet available
// (this lets us immediately read more without waiting for an interrupt)
fifoCount -= packetSize;
#ifdef OUTPUT_READABLE_YAWPITCHROLL
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
Serial.print("ypr\t");
Serial.print(ypr[0] * 180/M_PI);
Serial.print("\t");
Serial.print(ypr[1] * 180/M_PI);
Serial.print("\t");
Serial.print(ypr[2] * 180/M_PI);
Serial.print("\t");
Serial.println(setvalueP);
//val = (ypr[1] * 180/M_PI); // legge il valore dell'input e lo conserva
val1 = (ypr[2] * 180/M_PI); // legge il valore dell'input e lo conserva 2
val= setvalueP+(ypr[1] * 180/M_PI);
#endif
if (val > 20 || val < -20 || (val1 > 20 || val1 < -20))
{
digitalWrite(led, HIGH); //accende il led
}
else {
digitalWrite(led, LOW); //spegne il led
}
if (sensorValue1 < 200)
{
digitalWrite(led1, HIGH); //accende il led
}
else {
digitalWrite(led1, LOW); //spegne il led
}
if (sensorValue1 < 100)
{
digitalWrite(led2, HIGH); //accende il led
}
else {
digitalWrite(led2, LOW); //spegne il led
}
ledstatus = digitalRead(buttonpin); // lettura dell'ingresso
if (ledstatus == HIGH) { // controlla se il pulsante è premuto
digitalWrite(led, HIGH) ; // accedn il LED
setvalueP == (ypr[1] * 180/M_PI);
}
else if (ledstatus == LOW) { // controlla se il pulsante viene rilasciato
digitalWrite(led, LOW); // spegne il LED
}
}
sensorValue1 = analogRead(analogInPin);
// blink LED to indicate activity
blinkState = !blinkState;
digitalWrite(LED_PIN, blinkState);
}
