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FullColorLED & MPU-6050

FullColorLED

ArduinoMicro

5V

10 (PWM)

11 (PWM)

Common

9 (PWM) Red

Green

Blue

OSTA71A1D-A

Anode→

Cathode←150Ω

100Ω

100Ω

Cathode←

Cathode←

Arduino sketch

Set pin mode OUTPUT

Declare LED pins

Set LED color Red

Set LED function0 -> HIGH255 -> LOW(Anode Common)

const int ledPins[] = { 9, 10, 11 };const int nLedPins = 3;

void setup(){ for( int i = 0; i < nLedPins; ++i ) { pinMode( ledPins[ i ], OUTPUT ); } setLed( 255, 0, 0 );}

void loop(){}

void setLed( int _r, int _g, int _b ){ analogWrite( ledPins[ 0 ], 255 - _r ); analogWrite( ledPins[ 1 ], 255 - _g ); analogWrite( ledPins[ 2 ], 255 - _b );}

MPU-6050(GY-521)( I2C Interface )

ArduinoMicro

5V

GND

3 (SCL)

2 (SDA)

VCC

GND

SCL

SDA

MPU-6050

Arduino Library

Download “i2cdevlib” from

github.com/jrowberg/i2cdevlib

into “書類 / Arduino / Libraries /”

i2cdevlib / Arduino / I2Cdev andCopy

Paste

i2cdevlib / Arduino / MPU6050

Example

Arduino / Libraries / MPU6050 / Examples / MPU6050_raw / MPU6050_raw.ino

raw データを取得する Exampleここから不要な部分を削っていく。

Arduino sketch

MPU6050 object

Include libraries

Sensor values

InitializeSet full scale accel range 16GSet full scale gyro range 2000dps

Get acceleration valuesGet rotation values

#include "I2Cdev.h"#include "MPU6050.h"

#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE #include "Wire.h"#endif

MPU6050 accelgyro;

int16_t ax, ay, az;int16_t gx, gy, gz;

int id = 0;

void setup(){ #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE Wire.begin(); #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE Fastwire::setup( 400, true ); #endif Serial1.begin( 9600 );

accelgyro.initialize();

accelgyro.setFullScaleAccelRange( MPU6050_ACCEL_FS_16 );

accelgyro.setFullScaleGyroRange( MPU6050_GYRO_FS_2000 );}

void loop(){ accelgyro.getAcceleration( &ax, &ay, &az );

accelgyro.getRotation( &gx, &gy, &gz );

Serial1.print( id ); Serial1.print( "," ); Serial1.print( ax ); Serial1.print( "," ); Serial1.print( gz ); Serial1.println();

delay( 60 );}

( ArduinoMicro + XBee + MPU-6050 )

Arduino sketch

int16_t = -32768 ~ 32767

accelgyro.initialize()

accelgyro.setFullScaleAccelRange( MPU6050_ACCEL_FS_16 )

accelgyro.setFullScaleGyroRange( MPU6050_GYRO_FS_2000 )

signed 16bit

この中で

されているsetFullScaleAccelRange( MPU6050_ACCEL_FS_2 )setFullScaleGyroRange( MPU6050_GYRO_FS_250 )

( ArduinoMicro + XBee + MPU-6050 )

250dps 2000dps

Accel

2G 16G

Gyro

Arduino sketch( ArduinoMicro + XBee + MPU-6050 )

Address of “ax”

Memory

Address 0x00

ax

&ax

int16_tx

int16_t*

0x01 0x02 0x03 0x04

...

“MPU6050.h”

accelgyro.getAcceleration( &ax, &ay, &az )

void MPU6050::getAcceleration( int16_t* x, int16_t* y, int16_t* z )Pointer of “int16_t”

int16_t* x = &ax;assign address to pointer

Memory

Address 0x00

ax

*x

x

int16_tx

int16_t*

0x01 0x02 0x03 0x04

...

*x = -32768; ax = -32768;in automatically

ax -32768

Read Serial( openFrameworks )

ofApp.h ofApp.cpp

class ofApp : public ofBaseApp{public: ofSerial serial; string str; int index, ax, gz;};

void ofApp::setup(){ index = ax = gz = 0; str = ""; serial.listDevices(); serial.setup( 0, 9600 ); ofBackground( 255 );}

void ofApp::update(){ while( true ) { int c = serial.readByte(); if( c == OF_SERIAL_NO_DATA || c == OF_SERIAL_ERROR || c == 0 ) { break; } if( c == ‘\n’ ) { vector< string > valStr = ofSplitString( str, "," ); if( valStr.size() == 3 ) { index = ofToInt( valStr.at( 0 ) ); ax = abs( ofToInt( valStr.at( 1 ) ) ); gz = ofToInt( valStr.at( 2 ) ); } str = ""; } else { str.push_back( c ); } }}

Flow Chart

false

read 1 character

false

true

true

int c = serial.readByte()

c == OF_SERIAL_NO_DATAor

c == OF_SERIAL_ERRORor

c == 0

while( true )

break str.push_back( c )

c == ‘\n’

ofSplitString( str, "," )

str = ""

index = ofToInt( valStr.at( 0 ) )ax = abs( ofToInt( valStr.at( 1 ) ) )gz = ofToInt( valStr.at( 2 ) )

Get values from string

“0,-32768,32767”

convert to int from string

index = ofToInt( valStr.at( 0 ) )ax = abs( ofToInt( valStr.at( 1 ) ) )gz = ofToInt( valStr.at( 2 ) )

“0” “-32768” “32767”

id

string

string

ax gz

string

int

vector< string > valStr = ofSplitString( str, "," )

-32768 ~ 32767 0 ~ 32768

Draw with sensor value

x = 0 ~ 32768

( float )x / 32768 = 0.0 ~ 1.0

( ( float )x / 32768 ) * ofGetWidth() = 0.0 ~ ofGetWidth()

( openFrameworks )

necessary to re-scale values

ofApp.cpp

void ofApp::draw(){ ofSetColor( 0 ); ofFill(); ofRect( 0, 0, ( ( float )ax / 32768 ) * ofGetWidth(), 60 );}