Arduino MPU6050学习验证成功了

davis2016 发表于 2016-5-16 00:56:32

本帖最后由 davis2016 于 2016-5-16 20:42 编辑

感谢前辈们的贡献
http://www.geek-workshop.com/thread-1935-1-1.html
1. 前期试验，一直失败，考虑可能是接口连接不好，用电烙铁焊接上，效果终于出现，接线连接上了，模块led会亮起
接线INT不用接
2. Arduino程序录入，需要将三个库都导入，程序如下
#include "Wire.h"
#include "I2Cdev.h"
#include "MPU6050.h"

MPU6050 accelgyro;

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

char str;

void setup() {
Wire.begin();
Serial.begin(9600);
accelgyro.initialize();
}

void loop() {
accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
sprintf(str, "%d,%d,%d,%d,%d,%d,%d", ax, ay, az, gx, gy, gz);
Serial.print(str);
Serial.write(byte(10));
delay(50);
}

3. processing 程序输入，程序中有几个地方需要根据自己电脑的情况做调整。后面有说明。

import processing.serial.*;

Serial myPort;// 创建串口对象myPort

boolean firstSample = true;

float [] RwAcc = new float;       // 通过加速度传感器把重力加速度投影在x/y/z三轴上
float [] Gyro = new float;       // 陀螺仪读取
float [] RwGyro = new float;    // 重新读取陀螺仪
float [] Awz = new float;       // XZ/ YZ平面和Z轴（度）R的投影之间的角度
float [] RwEst = new float;

int lastTime = 0;
int interval = 0;
float wGyro = 10.0;

int lf = 10; // 10在ASCII表中表示'\n'
byte[] inBuffer = new byte;

PFont font;
final int VIEW_SIZE_X = 600, VIEW_SIZE_Y = 600;

void setup()
{
size(600, 600, P3D);

//myPort = new Serial(this, Serial.list(), 9600); // 设置电脑第三个COM口为连接端口，这个要根据你电脑情况进行设置。
myPort = new Serial(this, "COM10", 9600);

// 加载字体，字体必须在代码文件同目录下的data文件夹中
font=loadFont("Vivaldii-48.vlw");
}

void readSensors() {
if (myPort.available() > 0) {
if (myPort.readBytesUntil(lf, inBuffer) > 0) {
   String inputString = new String(inBuffer);
   String [] inputStringArr = split(inputString, ',');

   // 把原始数据转换为G
   RwAcc = float(inputStringArr) / 16384.0;
   RwAcc = float(inputStringArr)/ 16384.0;
   RwAcc = float(inputStringArr)/ 16384.0;

   // 把原始数据转换为"度/秒"
   Gyro = float(inputStringArr) / 131.0;
   Gyro = float(inputStringArr) / 131.0;
   Gyro = float(inputStringArr) / 131.0;
}
}
}

void normalize3DVec(float [] vector) {
float R;
R = sqrt(vector*vector + vector*vector + vector*vector);
vector /= R;
vector /= R;
vector /= R;
}

float squared(float x) {
return x*x;
}

void buildBoxShape() {
//box(60, 10, 40);
noStroke();
beginShape(QUADS);

//Z+ (绘图区域)
fill(#00ff00);
vertex(-30, -5, 20);
vertex(30, -5, 20);
vertex(30, 5, 20);
vertex(-30, 5, 20);

//Z-
fill(#0000ff);
vertex(-30, -5, -20);
vertex(30, -5, -20);
vertex(30, 5, -20);
vertex(-30, 5, -20);

//X-
fill(#ff0000);
vertex(-30, -5, -20);
vertex(-30, -5, 20);
vertex(-30, 5, 20);
vertex(-30, 5, -20);

//X+
fill(#ffff00);
vertex(30, -5, -20);
vertex(30, -5, 20);
vertex(30, 5, 20);
vertex(30, 5, -20);

//Y-
fill(#ff00ff);
vertex(-30, -5, -20);
vertex(30, -5, -20);
vertex(30, -5, 20);
vertex(-30, -5, 20);

//Y+
fill(#00ffff);
vertex(-30, 5, -20);
vertex(30, 5, -20);
vertex(30, 5, 20);
vertex(-30, 5, 20);

endShape();
}

void drawCube() {
pushMatrix();
translate(300, 450, 0);
scale(4, 4, 4);

rotateX(HALF_PI * -RwEst);
rotateZ(HALF_PI * RwEst);

buildBoxShape();

popMatrix();
}

void getInclination() {
int w = 0;
float tmpf = 0.0;
int currentTime, signRzGyro;

readSensors();
normalize3DVec(RwAcc);

currentTime = millis();
interval = currentTime - lastTime;
lastTime = currentTime;

if (firstSample || Float.isNaN(RwEst)) { // NaN用来等待检查从arduino过来的数据
for (w=0;w<=2;w++) {
   RwEst = RwAcc; // 初始化加速度传感器读数
}
}
else {
// 对RwGyro进行评估
if (abs(RwEst) < 0.1) {
   // Rz值非常的小，它的作用是作为Axz与Ayz的计算参照值，防止放大的波动产生错误的结果。
   // 这种情况下就跳过当前的陀螺仪数据，使用以前的。
   for (w=0;w<=2;w++) {
   RwGyro = RwEst;
   }
}
else {
   // ZX/ZY平面和Z轴R的投影之间的角度，基于最近一次的RwEst值
   for (w=0;w<=1;w++) {
   tmpf = Gyro;                      // 获取当前陀螺仪的deg/s
   tmpf *= interval / 1000.0f;                   // 得到角度变化值
   Awz = atan2(RwEst, RwEst) * 180 / PI; // 得到角度并转换为度
   Awz += tmpf;          // 根据陀螺仪的运动得到更新后的角度
   }

   // 判断RzGyro是多少，主要看Axz的弧度是多少
   // 当Axz在-90 ..90 => cos(Awz) >= 0这个范围内的时候RzGyro是准确的
   signRzGyro = ( cos(Awz * PI / 180) >=0 ) ? 1 : -1;

   // 从Awz的角度值反向计算RwGyro的公式请查看网页 http://starlino.com/imu_guide.html
   for (w=0;w<=1;w++) {
   RwGyro = sin(Awz * PI / 180);
   RwGyro /= sqrt( 1 + squared(cos(Awz * PI / 180)) * squared(tan(Awz * PI / 180)) );
   RwGyro = sin(Awz * PI / 180);
   RwGyro /= sqrt( 1 + squared(cos(Awz * PI / 180)) * squared(tan(Awz * PI / 180)) );
   }
   RwGyro = signRzGyro * sqrt(1 - squared(RwGyro) - squared(RwGyro));
}

// 把陀螺仪与加速度传感器的值进行结合
for (w=0;w<=2;w++) RwEst = (RwAcc + wGyro * RwGyro) / (1 + wGyro);

normalize3DVec(RwEst);
}

firstSample = false;
}

void draw() {
getInclination();

background(#000000);
fill(#ffffff);

textFont(font, 20);
//float temp_decoded = 35.0 + ((float) (temp + 13200)) / 280;
//text("temp:\n" + temp_decoded + " C", 350, 250);
text("RwAcc (G):\n" + RwAcc + "\n" + RwAcc + "\n" + RwAcc + "\ninterval: " + interval, 20, 50);
text("Gyro (°/s):\n" + Gyro + "\n" + Gyro + "\n" + Gyro, 220, 50);
text("Awz (°):\n" + Awz + "\n" + Awz, 420, 50);
text("RwGyro (°/s):\n" + RwGyro + "\n" + RwGyro + "\n" + RwGyro, 20, 180);
text("RwEst :\n" + RwEst + "\n" + RwEst + "\n" + RwEst, 220, 180);

// display axes显示轴
pushMatrix();
translate(450, 250, 0);
stroke(#ffffff);
scale(100, 100, 100);
line(0, 0, 0, 1, 0, 0);
line(0, 0, 0, 0, -1, 0);
line(0, 0, 0, 0, 0, 1);
line(0, 0, 0, -RwEst, RwEst, RwEst);
popMatrix();

drawCube();
}
1.学习大神的原帖时，编译显示size有问题，直接改为600,600，通过编译
2.大神的原帖，需要更新port口，参看上面更新后程序
3.大神的原帖，font调入需要根据自己的调整下，可在processing 工具创建字体，然后调入。

终于实验成功了，高兴啊：）呵呵

原野动力 发表于 2016-5-16 12:55:11

学习学习学习学习

学慧放弃 发表于 2016-5-16 20:55:06

我只想知道上位机用啥开发的

eysajan 发表于 2016-5-17 18:42:02

学慧放弃发表于 2016-5-16 20:55 static/image/common/back.gif
我只想知道上位机用啥开发的

我看的像processing做的

学慧放弃 发表于 2016-5-17 19:20:26

eysajan 发表于 2016-5-17 18:42 static/image/common/back.gif
我看的像processing做的

不是你写的？？

eysajan 发表于 2016-5-18 10:45:17

学慧放弃发表于 2016-5-17 19:20 static/image/common/back.gif
不是你写的？？

楼主写的吧，我看的像用processing写的

学慧放弃 发表于 2016-5-18 20:22:10

eysajan 发表于 2016-5-18 10:45 static/image/common/back.gif
楼主写的吧，我看的像用processing写的

嗯，我看看吧

davis2016 发表于 2016-5-19 10:43:02

用的processing 软件

nick_zm 发表于 2016-5-19 10:59:59

其实6050库里就有 processing写的样例，画面是个飞机

amaverick 发表于 2016-7-25 17:12:25

就这样也不滤波直接raw数据搞？

zjbhm 发表于 2016-8-7 21:41:16

是processing写的

小婧哥哥 发表于 2016-8-16 11:56:14

我把代码考到arduino显示mpu6050 does not name a type

刘小白_xl 发表于 2016-10-29 17:45:33

为什么我的就显示几排数据就没了，arduino的灯也没亮，但也没烧

敢伤~ 发表于 2016-10-29 19:20:41

用之前是要进行卡尔曼滤波的吗？

xiaocaicai 发表于 2016-11-23 15:21:34

不知楼主是否发现一个问题：
……
app_read_sensor_data_timer_handler,*****RwEst=0.997643,RwEst=0.000960,RwEst=0.072435
Awz_X=85, Awz_Y=0, tmpf=-0.007317
app_read_sensor_data_timer_handler,*****RwEst=0.997462,RwEst=0.001040,RwEst=0.071624
Awz_X=85, Awz_Y=0, tmpf=-0.035366
app_read_sensor_data_timer_handler,*****RwEst=0.997661,RwEst=0.000773,RwEst=0.071494
Awz_X=85, Awz_Y=0, tmpf=-0.015244
app_read_sensor_data_timer_handler,*****RwEst=0.997768,RwEst=0.001240,RwEst=0.070883
Awz_X=85, Awz_Y=0, tmpf=-0.006707
app_read_sensor_data_timer_handler,*****RwEst=0.997769,RwEst=0.001827,RwEst=0.070504
Awz_X=85, Awz_Y=1, tmpf=0.018293
app_read_sensor_data_timer_handler,*****RwEst=0.997945,RwEst=0.001789,RwEst=0.069888
Awz_X=86, Awz_Y=1, tmpf=0.006707
app_read_sensor_data_timer_handler,*****RwEst=0.997266,RwEst=0.002971,RwEst=0.064135
Awz_X=86, Awz_Y=2, tmpf=-0.009756
app_read_sensor_data_timer_handler,*****RwEst=0.998143,RwEst=0.003070,RwEst=0.064613
Awz_X=86, Awz_Y=2, tmpf=-0.039634
app_read_sensor_data_timer_handler,*****RwEst=0.997942,RwEst=0.003349,RwEst=0.064487
Awz_X=86, Awz_Y=2, tmpf=-0.023780
app_read_sensor_data_timer_handler,*****RwEst=0.998270,RwEst=0.003072,RwEst=0.064282
Awz_X=86, Awz_Y=2, tmpf=0.001220
app_read_sensor_data_timer_handler,*****RwEst=0.998033,RwEst=0.003100,RwEst=0.063912
Awz_X=86, Awz_Y=2, tmpf=0.002439
app_read_sensor_data_timer_handler,*****RwEst=0.997779,RwEst=0.003178,RwEst=0.064493
Awz_X=86, Awz_Y=2, tmpf=-0.026829
app_read_sensor_data_timer_handler,*****RwEst=0.998031,RwEst=0.002954,RwEst=0.063611
Awz_X=86, Awz_Y=2, tmpf=-0.000610
app_read_sensor_data_timer_handler,*****RwEst=0.997760,RwEst=0.002992,RwEst=0.062906
Awz_X=86, Awz_Y=2, tmpf=-0.020732
app_read_sensor_data_timer_handler,*****RwEst=0.997969,RwEst=0.003058,RwEst=0.062165
Awz_X=86, Awz_Y=2, tmpf=-0.031707
app_read_sensor_data_timer_handler,*****RwEst=0.998079,RwEst=0.003039,RwEst=0.061530
Awz_X=86, Awz_Y=2, tmpf=-0.031098
app_read_sensor_data_timer_handler,*****RwEst=0.998675,RwEst=0.002709,RwEst=0.060959
Awz_X=86, Awz_Y=2, tmpf=-0.002439
app_read_sensor_data_timer_handler,*****RwEst=0.998168,RwEst=0.002552,RwEst=0.060488
Awz_X=86, Awz_Y=2, tmpf=-0.020122
app_read_sensor_data_timer_handler,*****RwEst=0.998272,RwEst=0.002785,RwEst=0.059133
Awz_X=86, Awz_Y=2, tmpf=-0.001220
app_read_sensor_data_timer_handler,*****RwEst=0.998628,RwEst=0.002930,RwEst=0.058394
Awz_X=86, Awz_Y=2, tmpf=-0.049390
app_read_sensor_data_timer_handler,*****RwEst=0.998322,RwEst=0.002543,RwEst=0.056819
Awz_X=86, Awz_Y=2, tmpf=-0.054268
app_read_sensor_data_timer_handler,*****RwEst=0.999132,RwEst=0.002437,RwEst=0.055508
Awz_X=86, Awz_Y=2, tmpf=0.013415
app_read_sensor_data_timer_handler,*****RwEst=0.998938,RwEst=0.002553,RwEst=0.054198
Awz_X=86, Awz_Y=2, tmpf=0.003049
app_read_sensor_data_timer_handler,*****RwEst=0.998596,RwEst=0.002610,RwEst=0.052495
Awz_X=87, Awz_Y=2, tmpf=0.011585
app_read_sensor_data_timer_handler,*****RwEst=0.998775,RwEst=0.002728,RwEst=0.051535
Awz_X=87, Awz_Y=3, tmpf=-0.004878
app_read_sensor_data_timer_handler,*****RwEst=0.998985,RwEst=0.003079,RwEst=0.051405
Awz_X=87, Awz_Y=3, tmpf=-0.009756
app_read_sensor_data_timer_handler,*****RwEst=0.998648,RwEst=0.003357,RwEst=0.050294
Awz_X=87, Awz_Y=3, tmpf=0.015854
app_read_sensor_data_timer_handler,*****RwEst=0.998734,RwEst=0.003442,RwEst=0.049467
Awz_X=87, Awz_Y=3, tmpf=-0.004878
app_read_sensor_data_timer_handler,*****RwEst=0.999089,RwEst=0.003358,RwEst=0.048225
Awz_X=87, Awz_Y=3, tmpf=0.003049
app_read_sensor_data_timer_handler,*****RwEst=0.999072,RwEst=0.003318,RwEst=0.048395
Awz_X=87, Awz_Y=3, tmpf=0.004268
app_read_sensor_data_timer_handler,*****RwEst=0.999113,RwEst=0.003212,RwEst=0.048238
Awz_X=87, Awz_Y=3, tmpf=-0.015244
app_read_sensor_data_timer_handler,*****RwEst=0.999161,RwEst=0.002884,RwEst=0.047949
Awz_X=87, Awz_Y=3, tmpf=0.017683
app_read_sensor_data_timer_handler,*****RwEst=0.999114,RwEst=0.003024,RwEst=0.048139
Awz_X=87, Awz_Y=3, tmpf=0.009146
app_read_sensor_data_timer_handler,*****RwEst=0.998859,RwEst=0.002926,RwEst=0.048163
Awz_X=87, Awz_Y=3, tmpf=-0.033537
app_read_sensor_data_timer_handler,*****RwEst=0.998946,RwEst=0.002961,RwEst=0.047872
Awz_X=87, Awz_Y=3, tmpf=-0.023780
app_read_sensor_data_timer_handler,*****RwEst=0.998977,RwEst=0.002872,RwEst=0.047647
Awz_X=87, Awz_Y=3, tmpf=-0.006707
app_read_sensor_data_timer_handler,*****RwEst=0.999209,RwEst=0.003025,RwEst=0.047099
Awz_X=87, Awz_Y=3, tmpf=-0.019512
app_read_sensor_data_timer_handler,*****RwEst=0.999052,RwEst=0.003271,RwEst=0.046146
Awz_X=87, Awz_Y=4, tmpf=-0.015244
app_read_sensor_data_timer_handler,*****RwEst=0.999344,RwEst=0.003552,RwEst=0.045682
Awz_X=87, Awz_Y=4, tmpf=-0.034756
app_read_sensor_data_timer_handler,*****RwEst=0.999047,RwEst=0.003245,RwEst=0.044880
Awz_X=87, Awz_Y=4, tmpf=0.020122
app_read_sensor_data_timer_handler,*****RwEst=0.999238,RwEst=0.003603,RwEst=0.044237
Awz_X=87, Awz_Y=4, tmpf=-0.010976
app_read_sensor_data_timer_handler,*****RwEst=0.998910,RwEst=0.003835,RwEst=0.043696
Awz_X=87, Awz_Y=5, tmpf=0.003659
app_read_sensor_data_timer_handler,*****RwEst=0.999546,RwEst=0.003889,RwEst=0.043325
Awz_X=87, Awz_Y=5, tmpf=-0.010366
app_read_sensor_data_timer_handler,*****RwEst=0.999281,RwEst=0.003889,RwEst=0.043042
Awz_X=87, Awz_Y=5, tmpf=-0.027439
app_read_sensor_data_timer_handler,*****RwEst=0.999374,RwEst=0.003580,RwEst=0.042021
Awz_X=87, Awz_Y=4, tmpf=0.011585
app_read_sensor_data_timer_handler,*****RwEst=0.999267,RwEst=0.004242,RwEst=0.040887
Awz_X=87, Awz_Y=5, tmpf=0.008537
app_read_sensor_data_timer_handler,*****RwEst=0.999371,RwEst=0.004291,RwEst=0.039870
Awz_X=87, Awz_Y=6, tmpf=-0.023780
app_read_sensor_data_timer_handler,*****RwEst=0.999656,RwEst=0.004327,RwEst=0.039446
Awz_X=87, Awz_Y=6, tmpf=-0.025000
app_read_sensor_data_timer_handler,*****RwEst=0.999625,RwEst=0.004361,RwEst=0.038936
Awz_X=87, Awz_Y=6, tmpf=-0.012195
app_read_sensor_data_timer_handler,*****RwEst=0.999440,RwEst=0.004720,RwEst=0.037895
Awz_X=87, Awz_Y=7, tmpf=-0.004878
app_read_sensor_data_timer_handler,*****RwEst=0.999496,RwEst=0.004453,RwEst=0.036967
Awz_X=87, Awz_Y=6, tmpf=0.004878
app_read_sensor_data_timer_handler,*****RwEst=0.999730,RwEst=0.004701,RwEst=0.036338
Awz_X=87, Awz_Y=7, tmpf=-0.007317
app_read_sensor_data_timer_handler,*****RwEst=0.999681,RwEst=0.004925,RwEst=0.036327
Awz_X=87, Awz_Y=7, tmpf=0.012805
app_read_sensor_data_timer_handler,*****RwEst=0.999684,RwEst=0.004883,RwEst=0.035767
Awz_X=87, Awz_Y=7, tmpf=-0.007317
app_read_sensor_data_timer_handler,*****RwEst=0.999415,RwEst=0.005119,RwEst=0.034917
Awz_X=88, Awz_Y=8, tmpf=0.012195
app_read_sensor_data_timer_handler,*****RwEst=0.999816,RwEst=0.004731,RwEst=0.035146
Awz_X=87, Awz_Y=7, tmpf=-0.037195
app_read_sensor_data_timer_handler,*****RwEst=0.999590,RwEst=0.004701,RwEst=0.034091
Awz_X=88, Awz_Y=7, tmpf=-0.022561
app_read_sensor_data_timer_handler,*****RwEst=0.999842,RwEst=0.004847,RwEst=0.034117
Awz_X=88, Awz_Y=8, tmpf=-0.034756
app_read_sensor_data_timer_handler,*****RwEst=0.999751,RwEst=0.004777,RwEst=0.033430
Awz_X=88, Awz_Y=8, tmpf=-0.023780
app_read_sensor_data_timer_handler,*****RwEst=0.999572,RwEst=0.004965,RwEst=0.032221
Awz_X=88, Awz_Y=8, tmpf=-0.009756
app_read_sensor_data_timer_handler,*****RwEst=0.999853,RwEst=0.004714,RwEst=0.031423
Awz_X=88, Awz_Y=8, tmpf=-0.034146
app_read_sensor_data_timer_handler,*****RwEst=0.999547,RwEst=0.004996,RwEst=0.029236
Awz_X=88, Awz_Y=9, tmpf=-0.015244
app_read_sensor_data_timer_handler,*****RwEst=0.999399,RwEst=0.005361,RwEst=0.028362
Awz_X=88, Awz_Y=10, tmpf=-0.033537
app_read_sensor_data_timer_handler,*****RwEst=0.999599,RwEst=0.005438,RwEst=0.027508
Awz_X=88, Awz_Y=11, tmpf=-0.046951
app_read_sensor_data_timer_handler,*****RwEst=0.999398,RwEst=0.005344,RwEst=0.026228
Awz_X=88, Awz_Y=11, tmpf=0.020122
app_read_sensor_data_timer_handler,*****RwEst=1.000078,RwEst=0.005391,RwEst=0.025403
Awz_X=88, Awz_Y=11, tmpf=-0.008537
app_read_sensor_data_timer_handler,*****RwEst=1.000051,RwEst=0.005388,RwEst=0.024305
Awz_X=88, Awz_Y=12, tmpf=-0.037195
app_read_sensor_data_timer_handler,*****RwEst=0.999877,RwEst=0.005608,RwEst=0.023050
Awz_X=88, Awz_Y=13, tmpf=-0.021951
app_read_sensor_data_timer_handler,*****RwEst=1.000059,RwEst=0.005806,RwEst=0.022218
Awz_X=88, Awz_Y=14, tmpf=-0.006707
app_read_sensor_data_timer_handler,*****RwEst=0.999695,RwEst=0.006013,RwEst=0.020312
Awz_X=88, Awz_Y=16, tmpf=0.024390
app_read_sensor_data_timer_handler,*****RwEst=1.000175,RwEst=0.005982,RwEst=0.019931
Awz_X=88, Awz_Y=16, tmpf=-0.035976
app_read_sensor_data_timer_handler,*****RwEst=0.999917,RwEst=0.006227,RwEst=0.018821
Awz_X=88, Awz_Y=18, tmpf=-0.040244
app_read_sensor_data_timer_handler,*****RwEst=1.000331,RwEst=0.007010,RwEst=0.017425
Awz_X=89, Awz_Y=21, tmpf=0.005488
app_read_sensor_data_timer_handler,*****RwEst=1.000018,RwEst=0.007056,RwEst=0.016424
Awz_X=89, Awz_Y=23, tmpf=-0.003049
app_read_sensor_data_timer_handler,*****RwEst=1.000321,RwEst=0.007238,RwEst=0.015516
Awz_X=89, Awz_Y=25, tmpf=-0.003659
app_read_sensor_data_timer_handler,*****RwEst=0.999823,RwEst=0.007268,RwEst=0.014215
Awz_X=89, Awz_Y=27, tmpf=-0.006707
app_read_sensor_data_timer_handler,*****RwEst=0.999907,RwEst=0.007333,RwEst=0.014179
Awz_X=89, Awz_Y=27, tmpf=-0.009146
app_read_sensor_data_timer_handler,*****RwEst=0.999930,RwEst=0.007545,RwEst=0.013037
Awz_X=89, Awz_Y=30, tmpf=-0.017683
app_read_sensor_data_timer_handler,*****RwEst=1.000541,RwEst=0.007376,RwEst=0.012785
Awz_X=89, Awz_Y=29, tmpf=-0.010976
app_read_sensor_data_timer_handler,*****RwEst=1.000059,RwEst=0.007363,RwEst=0.010881
Awz_X=89, Awz_Y=34, tmpf=-0.018902
app_read_sensor_data_timer_handler,*****RwEst=0.999878,RwEst=0.007401,RwEst=0.010214
Awz_X=89, Awz_Y=35, tmpf=-0.001220
app_read_sensor_data_timer_handler,*****RwEst=0.999995,RwEst=0.007706,RwEst=0.009993
Awz_X=89, Awz_Y=37, tmpf=0.004878
app_read_sensor_data_timer_handler,*****RwEst=1.000105,RwEst=0.008086,RwEst=0.009452
Awz_X=89, Awz_Y=40, tmpf=-0.032927
app_read_sensor_data_timer_handler,*****RwEst=1.000152,RwEst=0.007663,RwEst=0.008771
Awz_X=89, Awz_Y=41, tmpf=-0.015854
app_read_sensor_data_timer_handler,*****RwEst=1.000495,RwEst=0.007920,RwEst=0.007568
Awz_X=89, Awz_Y=46, tmpf=-0.042073
app_read_sensor_data_timer_handler,*****RwEst=1.000236,RwEst=0.007883,RwEst=0.005914
Awz_X=89, Awz_Y=53, tmpf=0.006098
app_read_sensor_data_timer_handler,*****RwEst=1.000445,RwEst=0.007927,RwEst=0.005326
Awz_X=89, Awz_Y=56, tmpf=-0.035366
app_read_sensor_data_timer_handler,*****RwEst=0.999920,RwEst=0.007984,RwEst=0.000342
Awz_X=89, Awz_Y=87, tmpf=-0.037195
app_read_sensor_data_timer_handler,*****RwEst=1.000310,RwEst=0.007213,RwEst=-0.000199
Awz_X=90, Awz_Y=91, tmpf=-0.002439
app_read_sensor_data_timer_handler,*****RwEst=1.000368,RwEst=0.008129,RwEst=-0.000977
Awz_X=90, Awz_Y=96, tmpf=-0.028049
app_read_sensor_data_timer_handler,*****RwEst=1.000053,RwEst=0.008663,RwEst=-0.001985
Awz_X=90, Awz_Y=102, tmpf=-0.004268
app_read_sensor_data_timer_handler,*****RwEst=1.000521,RwEst=0.008265,RwEst=-0.001740
Awz_X=90, Awz_Y=101, tmpf=-0.037195
app_read_sensor_data_timer_handler,*****RwEst=1.000165,RwEst=0.008277,RwEst=-0.003043
Awz_X=90, Awz_Y=110, tmpf=-0.031098
app_read_sensor_data_timer_handler,*****RwEst=1.000453,RwEst=0.007758,RwEst=-0.004518
Awz_X=90, Awz_Y=120, tmpf=-0.018902
app_read_sensor_data_timer_handler,*****RwEst=1.000229,RwEst=0.007526,RwEst=-0.005668
Awz_X=90, Awz_Y=126, tmpf=-0.034756
app_read_sensor_data_timer_handler,*****RwEst=1.000092,RwEst=0.007610,RwEst=-0.007092
Awz_X=90, Awz_Y=132, tmpf=-0.021951
app_read_sensor_data_timer_handler,*****RwEst=1.000346,RwEst=0.007714,RwEst=-0.007423
Awz_X=90, Awz_Y=133, tmpf=-0.020122
app_read_sensor_data_timer_handler,*****RwEst=1.000347,RwEst=0.007178,RwEst=-0.008975
Awz_X=90, Awz_Y=141, tmpf=-0.011585
app_read_sensor_data_timer_handler,*****RwEst=1.000006,RwEst=0.007304,RwEst=-0.009855
Awz_X=90, Awz_Y=143, tmpf=-0.027439
app_read_sensor_data_timer_handler,*****RwEst=1.000042,RwEst=0.007156,RwEst=-0.011051
Awz_X=90, Awz_Y=147, tmpf=-0.000610
app_read_sensor_data_timer_handler,*****RwEst=1.000277,RwEst=0.007063,RwEst=-0.012012
Awz_X=90, Awz_Y=149, tmpf=-0.004268
app_read_sensor_data_timer_handler,*****RwEst=1.000287,RwEst=0.007105,RwEst=-0.012906
Awz_X=90, Awz_Y=151, tmpf=-0.021951
app_read_sensor_data_timer_handler,*****RwEst=0.999723,RwEst=0.007188,RwEst=-0.014132
Awz_X=90, Awz_Y=153, tmpf=-0.014024
app_read_sensor_data_timer_handler,*****RwEst=0.999773,RwEst=0.006838,RwEst=-0.015797
Awz_X=90, Awz_Y=156, tmpf=0.002439
app_read_sensor_data_timer_handler,*****RwEst=1.000332,RwEst=0.007051,RwEst=-0.016184
Awz_X=90, Awz_Y=156, tmpf=-0.004878
app_read_sensor_data_timer_handler,*****RwEst=1.000590,RwEst=0.007095,RwEst=-0.017065
Awz_X=90, Awz_Y=157, tmpf=0.010976
app_read_sensor_data_timer_handler,*****RwEst=1.000043,RwEst=0.007340,RwEst=-0.018642
Awz_X=91, Awz_Y=158, tmpf=0.009756
app_read_sensor_data_timer_handler,*****RwEst=1.000504,RwEst=0.007453,RwEst=-0.019483
Awz_X=91, Awz_Y=159, tmpf=-0.012195
app_read_sensor_data_timer_handler,*****RwEst=1.000071,RwEst=0.007995,RwEst=-0.021469
Awz_X=91, Awz_Y=159, tmpf=-0.042073
app_read_sensor_data_timer_handler,*****RwEst=1.000316,RwEst=0.008196,RwEst=-0.022938
Awz_X=91, Awz_Y=160, tmpf=-0.001220
app_read_sensor_data_timer_handler,*****RwEst=0.999861,RwEst=0.008547,RwEst=-0.023488
Awz_X=91, Awz_Y=160, tmpf=0.005488
app_read_sensor_data_timer_handler,*****RwEst=1.000117,RwEst=0.008677,RwEst=-0.023244
Awz_X=91, Awz_Y=159, tmpf=-0.005488

如上是我打印出来的log，在Awz_X(即Awz)旋转达到86°以前，YAwz_Y(即Awz)的角度基本不变；但是随着Awz_X逐渐达到90°时，Awz_Y为什么会达到100多度呢？

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极客工坊's Archiver

Arduino MPU6050学习验证成功了