jusax23/mpu6050
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offsets

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jusax23 2022-08-03 15:19:06 +02:00
parent e892976649
commit 8024ad8cfd
3 changed files with 41 additions and 3 deletions
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2
library.properties
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@ -1,6 +1,6 @@
name=mpu6050 name=mpu6050
version=1.0.0 version=1.0.0
author=tockn author=jusax23 (tockn)
maintainer=jusax23 maintainer=jusax23
sentence=Arduino library for easy communicating with the MPU6050. sentence=Arduino library for easy communicating with the MPU6050.
paragraph=It acces get accel, gyro, and angle data. paragraph=It acces get accel, gyro, and angle data.

22
src/MPU6050_jusax23.cpp
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@ -81,6 +81,10 @@ void MPU6050::calcGyroOffsets(bool console, uint16_t delayBefore, uint16_t delay
gyroYoffset = y / 3000; gyroYoffset = y / 3000;
gyroZoffset = z / 3000; gyroZoffset = z / 3000;
gyroXoffsetGlide = gyroXoffset;
gyroYoffsetGlide = gyroYoffset;
gyroZoffsetGlide = gyroZoffset;
if(console){ if(console){
Serial.println(); Serial.println();
Serial.println("Done!"); Serial.println("Done!");
@ -113,8 +117,18 @@ void MPU6050::update(){
accY = ((float)rawAccY) / 16384.0; accY = ((float)rawAccY) / 16384.0;
accZ = ((float)rawAccZ) / 16384.0; accZ = ((float)rawAccZ) / 16384.0;
/*accX -= 0.04f; if(accX>maxAccX) maxAccX = accX;
accZ -= 0.3f;*/ if(accX<minAccX) minAccX = accX;
if(accY>maxAccY) maxAccY = accY;
if(accY<minAccY) minAccY = accY;
if(accZ>maxAccZ) maxAccZ = accZ;
if(accZ<minAccZ) minAccZ = accZ;
accX -= accXoffset;
accY -= accYoffset;
accZ -= accZoffset;
/*angleAccX = atan2(accY, accZ + abs(accX)) * 360 / 2.0 / PI; /*angleAccX = atan2(accY, accZ + abs(accX)) * 360 / 2.0 / PI;
angleAccY = atan2(accX, accZ + abs(accY)) * 360 / -2.0 / PI;*/ angleAccY = atan2(accX, accZ + abs(accY)) * 360 / -2.0 / PI;*/
@ -125,6 +139,10 @@ void MPU6050::update(){
gyroY = ((float)rawGyroY) / 65.5; gyroY = ((float)rawGyroY) / 65.5;
gyroZ = ((float)rawGyroZ) / 65.5; gyroZ = ((float)rawGyroZ) / 65.5;
gyroXoffsetGlide = gyroXoffsetGlide * 0.99 + gyroX * 0.01;
gyroYoffsetGlide = gyroYoffsetGlide * 0.99 + gyroY * 0.01;
gyroZoffsetGlide = gyroZoffsetGlide * 0.99 + gyroZ * 0.01;
gyroX -= gyroXoffset; gyroX -= gyroXoffset;
gyroY -= gyroYoffset; gyroY -= gyroYoffset;
gyroZ -= gyroZoffset; gyroZ -= gyroZoffset;

20
src/MPU6050_jusax23.h
View file

@ -43,6 +43,14 @@ class MPU6050{
float getAccY(){ return accY; }; float getAccY(){ return accY; };
float getAccZ(){ return accZ; }; float getAccZ(){ return accZ; };
void resetAccOffsetWatch() { maxAccX = 0; maxAccY = 0; maxAccZ = 0; minAccX = 0; minAccY = 0; minAccZ = 0; };
float calcAccXoffset() { return (maxAccX + minAccX)/2; };
float calcAccYoffset() { return (maxAccY + minAccY)/2; };
float calcAccZoffset() { return (maxAccZ + minAccZ)/2; };
float setAccXoffset(float x, float y, float z){accXoffset = x; accYoffset = y; accZoffset = z; };
float getGyroX(){ return gyroX; }; float getGyroX(){ return gyroX; };
float getGyroY(){ return gyroY; }; float getGyroY(){ return gyroY; };
float getGyroZ(){ return gyroZ; }; float getGyroZ(){ return gyroZ; };
@ -53,6 +61,12 @@ class MPU6050{
float getGyroYoffset(){ return gyroYoffset; }; float getGyroYoffset(){ return gyroYoffset; };
float getGyroZoffset(){ return gyroZoffset; }; float getGyroZoffset(){ return gyroZoffset; };
void restGyroOffsetGlide(){gyroXoffsetGlide = 0; gyroYoffsetGlide = 0;gyroZoffsetGlide = 0;};
float getGyroXoffsetGlide() { return gyroXoffsetGlide; };
float getGyroYoffsetGlide() { return gyroYoffsetGlide; };
float getGyroZoffsetGlide() { return gyroZoffsetGlide; };
void update(); void update();
float getAccAngleX(){ return angleAccX; }; float getAccAngleX(){ return angleAccX; };
@ -75,8 +89,14 @@ class MPU6050{
float gyroXoffset, gyroYoffset, gyroZoffset; float gyroXoffset, gyroYoffset, gyroZoffset;
float gyroXoffsetGlide, gyroYoffsetGlide, gyroZoffsetGlide;
float temp, accX, accY, accZ, gyroX, gyroY, gyroZ; float temp, accX, accY, accZ, gyroX, gyroY, gyroZ;
float maxAccX, maxAccY, maxAccZ, minAccX, minAccY, minAccZ;
float accXoffset = 0.0, accYoffset = 0.0, accZoffset = 0.0;
float angleGyroX, angleGyroY, angleGyroZ, float angleGyroX, angleGyroY, angleGyroZ,
angleAccX, angleAccY, angleAccZ; angleAccX, angleAccY, angleAccZ;