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