Hallo Forum 
Ich habe jetzt endlich mein MPU6050 (GY-521) und ein Steckbrett.
Jetzt habe ich aber folgendes Problem.
Ich habe jetzt ein Sketch, was mir die Y-Werte ausliest (Kalman).
Dazu habe ich einen Servo mit in das Sketch gepackt, das der sich bewegt.
Das klappt auch soweit ganz gut, solange ich feste Werte vergebe.
Wie kann ich es machen, das der Servo eine kontinuierliche Bewegung macht?
Also das er sich gleichmäßig mit dem Sensor bewegt.
Ich hoffe ihr versteht mich
LG Matze
/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved.
This software may be distributed and modified under the terms of the GNU
General Public License version 2 (GPL2) as published by the Free Software
Foundation and appearing in the file GPL2.TXT included in the packaging of
this file. Please note that GPL2 Section 2[b] requires that all works based
on this software must also be made publicly available under the terms of
the GPL2 ("Copyleft").
Contact information
-------------------
Kristian Lauszus, TKJ Electronics
Web : http://www.tkjelectronics.com
e-mail : kristianl@tkjelectronics.com
*/
#include <Wire.h>
#include "Kalman.h" // Source: https://github.com/TKJElectronics/KalmanFilter
#include <Servo.h>
Kalman kalmanX;
Kalman kalmanY;
Servo myservo;
const uint8_t IMUAddress = 0x68;
/* IMU Data */
int16_t accX;
int16_t accY;
int16_t accZ;
int16_t tempRaw;
int16_t gyroX;
int16_t gyroY;
int16_t gyroZ;
double accXangle; // Angle calculate using the accelerometer
double accYangle;
double temp;
double gyroXangle = 180; // Angle calculate using the gyro
double gyroYangle = 180;
double compAngleX = 180; // Calculate the angle using a Kalman filter
double compAngleY = 180;
double kalAngleX; // Calculate the angle using a Kalman filter
double kalAngleY;
uint32_t timer;
void setup() {
Serial.begin(115200);
myservo.attach(9);
Wire.begin();
i2cWrite(0x6B,0x00); // Disable sleep mode
if(i2cRead(0x75,1)[0] != 0x68) { // Read "WHO_AM_I" register
Serial.print(F("MPU-6050 with address 0x"));
Serial.print(IMUAddress,HEX);
Serial.println(F(" is not connected"));
while(1);
}
kalmanX.setAngle(180); // Set starting angle
kalmanY.setAngle(180);
timer = micros();
}
void loop() {
if (kalAngleY < 250)
{
myservo.write(45);
}
else if (kalAngleY > 280)
{
myservo.write(135);
}
else
{
myservo.write(90);
}
/* Update all the values */
uint8_t* data = i2cRead(0x3B,14);
accX = ((data[0] << 8) | data[1]);
accY = ((data[2] << 8) | data[3]);
accZ = ((data[4] << 8) | data[5]);
tempRaw = ((data[6] << 8) | data[7]);
gyroX = ((data[8] << 8) | data[9]);
gyroY = ((data[10] << 8) | data[11]);
gyroZ = ((data[12] << 8) | data[13]);
/* Calculate the angls based on the different sensors and algorithm */
accYangle = (atan2(accX,accZ)+PI)*RAD_TO_DEG;
accXangle = (atan2(accY,accZ)+PI)*RAD_TO_DEG;
double gyroXrate = (double)gyroX/131.0;
double gyroYrate = -((double)gyroY/131.0);
gyroXangle += gyroXrate*((double)(micros()-timer)/1000000); // Calculate gyro angle without any filter
gyroYangle += gyroYrate*((double)(micros()-timer)/1000000);
//gyroXangle += kalmanX.getRate()*((double)(micros()-timer)/1000000); // Calculate gyro angle using the unbiased rate
//gyroYangle += kalmanY.getRate()*((double)(micros()-timer)/1000000);
compAngleX = (0.93*(compAngleX+(gyroXrate*(double)(micros()-timer)/1000000)))+(0.07*accXangle); // Calculate the angle using a Complimentary filter
compAngleY = (0.93*(compAngleY+(gyroYrate*(double)(micros()-timer)/1000000)))+(0.07*accYangle);
kalAngleX = kalmanX.getAngle(accXangle, gyroXrate, (double)(micros()-timer)/1000000); // Calculate the angle using a Kalman filter
kalAngleY = kalmanY.getAngle(accYangle, gyroYrate, (double)(micros()-timer)/1000000);
timer = micros();
temp = ((double)tempRaw + 12412.0) / 340.0;
/* Print Data */
/*
Serial.print(accX);Serial.print("\t");
Serial.print(accY);Serial.print("\t");
Serial.print(accZ);Serial.print("\t");
Serial.print(gyroX);Serial.print("\t");
Serial.print(gyroY); Serial.print("\t");
Serial.print(gyroZ);Serial.print("\t");
*/
Serial.print(kalAngleY);Serial.print("\t");
//Serial.print(temp);Serial.print("\t");
Serial.print("\n");
delay(1); // The accelerometer's maximum samples rate is 1kHz
}
void i2cWrite(uint8_t registerAddress, uint8_t data){
Wire.beginTransmission(IMUAddress);
Wire.write(registerAddress);
Wire.write(data);
Wire.endTransmission(); // Send stop
}
uint8_t* i2cRead(uint8_t registerAddress, uint8_t nbytes) {
uint8_t data[nbytes];
Wire.beginTransmission(IMUAddress);
Wire.write(registerAddress);
Wire.endTransmission(false); // Don't release the bus
Wire.requestFrom(IMUAddress, nbytes); // Send a repeated start and then release the bus after reading
for(uint8_t i = 0; i < nbytes; i++)
data[i] = Wire.read();
return data;
}
