．3D模型：
．商品簡介：
GY-521模組是MPU-6050芯片 具有三軸陀螺儀、三軸加速度計、數碼運動處理器(DMP)和溫度傳感器。數碼運動處理器可以直接在電路板上處理複雜的算法。通常DMP處理的算法是將傳感器的原始值轉化為穩定的位置數據。GY-521模組通過I2C串行數據總線檢索傳感器的數值，只需要兩條接線(SCL和SDA)就可以檢索到環境數據。
．主要用途：
為你的項目加上三軸陀螺儀、三軸加速度計功能
．商品特色：
– PCB板設有固定螺栓孔，方便安裝
– I2C制式
– 只需要兩條接線，便能夠提供數據
．商品規格：
尺寸：16*20*3mm
重量：3g
電壓：3.3V-5V
芯片：MPU-6050
型號：GY-521
陀螺儀範圍：±250 500 1000 2000°/s
加速度範圍：±2 ±4 ±8 ±16g
通信方式：I2C
．接線說明：
SDA – 接 Arduino UNO 的 Analog Pin 4 SDA
SCL – 接 Arduino UNO 的 Analog Pin 5 SCL
GND – 接 GND
VCC – 接 +5V
AD0 (如果該引腳為LOW，則模組的I2C地址為0x68。如果該引腳為高電平，地址將為0x69。)
INT (中斷數字輸出)
．商品包含:
1 x 6軸模組 MPU-6050
・示範短片：
・程式範例：
#include "Wire.h" // This library allows you to communicate with I2C devices.
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;
}
void setup() {
Serial.begin(9600);
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);
}
void loop() {
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(1000);
}
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