Advertisement
Not a member of Pastebin yet?
Sign Up,
it unlocks many cool features!
- #include <LiquidCrystal.h>
- #include <Wire.h> // Wire library - used for I2C communication
- int Contrast=133;
- int bright = 50;
- /////////////////////////
- const int MPU_ADDR = 0x68; // I2C address of the MPU-6050. If AD0 pin is set to HIGH, the I2C address will be 0x69.
- int16_t accelerometer_x, accelerometer_y, accelerometer_z; // variables for accelerometer raw data
- int16_t gyro_x, gyro_y, gyro_z; // variables for gyro raw data
- int16_t temperature; // variables for temperature data
- char tmp_str[7]; // temporary variable used in convert function
- char* convert_int16_to_str(int16_t i) { // converts int16 to string. Moreover, resulting strings will have the same length in the debug monitor.
- sprintf(tmp_str, "%6d", i);
- return tmp_str;
- }
- LiquidCrystal lcd(12, 11, 5, 4, 3, 2);
- void setup()
- {
- analogWrite(6,Contrast);
- lcd.begin(16, 2);
- analogWrite(10, bright);
- /////////////////////////
- Serial.begin(4800);
- Wire.begin();
- Wire.beginTransmission(MPU_ADDR); // Begins a transmission to the I2C slave (GY-521 board)
- Wire.write(0x6B); // PWR_MGMT_1 register
- Wire.write(0); // set to zero (wakes up the MPU-6050)
- Wire.endTransmission(true);
- lcd.begin(2,16);
- lcd.clear();
- lcd.setCursor(0,0);
- lcd.print("TorqueTracker");
- lcd.setCursor(5,1);
- lcd.print("v0.1");
- delay(5000);
- }
- void loop()
- {
- lcd.begin(2,16);
- lcd.clear();
- lcd.setCursor(0,0);
- lcd.print("x");
- lcd.print(accelerometer_x);
- lcd.setCursor(9,0);
- lcd.print("y");
- lcd.print(accelerometer_y);
- lcd.setCursor(5,1);
- lcd.print("z");
- lcd.print(accelerometer_z);
- delay(100);
- /////////////////////////
- Wire.beginTransmission(MPU_ADDR);
- Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H) [MPU-6000 and MPU-6050 Register Map and Descriptions Revision 4.2, p.40]
- Wire.endTransmission(false); // the parameter indicates that the Arduino will send a restart. As a result, the connection is kept active.
- Wire.requestFrom(MPU_ADDR, 7*2, true); // request a total of 7*2=14 registers
- // "Wire.read()<<8 | Wire.read();" means two registers are read and stored in the same variable
- accelerometer_x = Wire.read()<<8 | Wire.read(); // reading registers: 0x3B (ACCEL_XOUT_H) and 0x3C (ACCEL_XOUT_L)
- accelerometer_y = Wire.read()<<8 | Wire.read(); // reading registers: 0x3D (ACCEL_YOUT_H) and 0x3E (ACCEL_YOUT_L)
- accelerometer_z = Wire.read()<<8 | Wire.read(); // reading registers: 0x3F (ACCEL_ZOUT_H) and 0x40 (ACCEL_ZOUT_L)
- temperature = Wire.read()<<8 | Wire.read(); // reading registers: 0x41 (TEMP_OUT_H) and 0x42 (TEMP_OUT_L)
- gyro_x = Wire.read()<<8 | Wire.read(); // reading registers: 0x43 (GYRO_XOUT_H) and 0x44 (GYRO_XOUT_L)
- gyro_y = Wire.read()<<8 | Wire.read(); // reading registers: 0x45 (GYRO_YOUT_H) and 0x46 (GYRO_YOUT_L)
- gyro_z = Wire.read()<<8 | Wire.read(); // reading registers: 0x47 (GYRO_ZOUT_H) and 0x48 (GYRO_ZOUT_L)
- // print out data
- Serial.print("aX = "); Serial.print(convert_int16_to_str(accelerometer_x));
- Serial.print(" | aY = "); Serial.print(convert_int16_to_str(accelerometer_y));
- Serial.print(" | aZ = "); Serial.print(convert_int16_to_str(accelerometer_z));
- // the following equation was taken from the documentation [MPU-6000/MPU-6050 Register Map and Description, p.30]
- Serial.print(" | tmp = "); Serial.print(temperature/340.00+36.53);
- Serial.print(" | gX = "); Serial.print(convert_int16_to_str(gyro_x));
- Serial.print(" | gY = "); Serial.print(convert_int16_to_str(gyro_y));
- Serial.print(" | gZ = "); Serial.print(convert_int16_to_str(gyro_z));
- Serial.println();
- // delay
- delay(300);
- }
Advertisement
Add Comment
Please, Sign In to add comment
Advertisement