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102 lines
2.9 KiB
102 lines
2.9 KiB
5 years ago
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#include "MPU9250.h"
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#include "MPU9250_asukiaaa.h"
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#include "ArduinoJson.h"
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// an MPU9250 object with the MPU-9250 sensor on I2C bus 0 with address 0x68
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MPU9250 IMU(Wire,0x68);
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int status;
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float aX, aY, aZ, gX, gY, gZ, mX, mY, mZ;
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String magnometer;
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String accelarator;
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String gyroscope;
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String sensorID;
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void setup() {
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// serial to display data
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Serial.begin(9600);
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while(!Serial) {}
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// start communication with IMU
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status = IMU.begin();
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if (status < 0) {
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Serial.println("IMU initialization unsuccessful");
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Serial.println("Check IMU wiring or try cycling power");
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Serial.print("Status: ");
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Serial.println(status);
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while(1) {}
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}
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// setting the accelerometer full scale range to +/-8G
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IMU.setAccelRange(MPU9250::ACCEL_RANGE_8G);
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// setting the gyroscope full scale range to +/-500 deg/s
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IMU.setGyroRange(MPU9250::GYRO_RANGE_500DPS);
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// setting DLPF bandwidth to 20 Hz
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IMU.setDlpfBandwidth(MPU9250::DLPF_BANDWIDTH_20HZ);
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// setting SRD to 19 for a 50 Hz update rate
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IMU.setSrd(19);
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}
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void loop() {
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StaticJsonDocument<200> accelarator;
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StaticJsonDocument<200> gyroscope;
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StaticJsonDocument<200> magnometer;
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// read the sensor
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IMU.readSensor();
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// display the data
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// Serial.print("Accel X "); Serial.print(IMU.getAccelX_mss());
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// Serial.print("\t");
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// Serial.print("Accel Y "); Serial.print(IMU.getAccelY_mss());
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// Serial.print("\t");
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// Serial.print("Accel Z "); Serial.print(IMU.getAccelZ_mss());
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// Serial.print("\t");
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aX = IMU.getAccelX_mss();
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aY = IMU.getAccelY_mss();
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aZ = IMU.getAccelZ_mss();
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accelarator["sensor"] = "accelarator";
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accelarator["X"] = aX;
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accelarator["Y"] = aY;
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accelarator["Z"] = aZ;
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serializeJson(accelarator, Serial);
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// Serial.print("Gyro X "); Serial.print(IMU.getGyroX_rads());
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// Serial.print("\t");
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// Serial.print("Gyro Y "); Serial.print(IMU.getGyroY_rads());
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// Serial.print("\t");
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// Serial.print("Gyro Z "); Serial.print(IMU.getGyroZ_rads());
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// Serial.print("\t");
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// Serial.print("Direction "); Serial.print(atan2(IMU.getMagX_uT(), IMU.getMagY_uT()) * 180 / PI);
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gX = IMU.getGyroX_rads();
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gY = IMU.getGyroY_rads();
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gZ = IMU.getGyroZ_rads();
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gyroscope["sensor"] = "gyroscope";
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gyroscope["X"] = gX;
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gyroscope["Y"] = gY;
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gyroscope["Z"] = gZ;
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serializeJson(gyroscope, Serial);
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// Serial.print("Magno X "); Serial.print(IMU.getMagX_uT(),6);
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// Serial.print("\t");
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// Serial.print("Magno Y "); Serial.print(IMU.getMagY_uT(),6);
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// Serial.print("\t");
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// Serial.print("Magno Z "); Serial.print(IMU.getMagZ_uT(),6);
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// Serial.println("\t");
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mX = IMU.getMagX_uT();
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mY = IMU.getMagY_uT();
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mZ = IMU.getMagZ_uT();
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magnometer["sensor"] = "magnometer";
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magnometer["X"] = gX;
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magnometer["Y"] = gY;
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magnometer["Z"] = gZ;
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serializeJson(magnometer, Serial);
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Serial.write("\n");
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//Serial.println(IMU.getTemperature_C(),6);
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delay(100);
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}
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