MPU6500 CẢM BIẾN 6 TRỤC 6DOF ( 3 CẢM BIẾN GIA TỐC + 3 CON QUAY HỒI CHUYỂN 3 TRỤC) GIAO TIẾP SPI, I2C

CODE TEST JQ6500

#include <MPU6500_WE.h>

#include <Wire.h>

#define MPU6500_ADDR 0x68

MPU6500_WE myMPU6500 = MPU6500_WE(MPU6500_ADDR);

void setup() {

  Serial.begin(115200);

  Wire.begin();

  if(!myMPU6500.init()){

    Serial.println("MPU6500 does not respond");

  }

  else{

    Serial.println("MPU6500 is connected");

  }

  Serial.println("Position you MPU6500 flat and don't move it - calibrating...");

  delay(1000);

  myMPU6500.autoOffsets();

  Serial.println("Done!");

  myMPU6500.enableGyrDLPF();

  myMPU6500.setGyrDLPF(MPU6500_DLPF_6);

  myMPU6500.setSampleRateDivider(5);

  myMPU6500.setGyrRange(MPU6500_GYRO_RANGE_250);

  myMPU6500.setAccRange(MPU6500_ACC_RANGE_2G);

  myMPU6500.enableAccDLPF(true);

  myMPU6500.setAccDLPF(MPU6500_DLPF_6);

  delay(200);

}

void loop() {

  xyzFloat gValue = myMPU6500.getGValues();

  xyzFloat gyr = myMPU6500.getGyrValues();

  float temp = myMPU6500.getTemperature();

  float resultantG = myMPU6500.getResultantG(gValue);

  Serial.println("Acceleration in g (x,y,z):");

  Serial.print(gValue.x);

  Serial.print("   ");

  Serial.print(gValue.y);

  Serial.print("   ");

  Serial.println(gValue.z);

  Serial.print("Resultant g: ");

  Serial.println(resultantG);

  Serial.println("Gyroscope data in degrees/s: ");

  Serial.print(gyr.x);

  Serial.print("   ");

  Serial.print(gyr.y);

  Serial.print("   ");

  Serial.println(gyr.z);

  Serial.print("Temperature in °C: ");

  Serial.println(temp);

  Serial.println("********************************************");

  delay(1000);

}