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accellerometre GY-521 mpu6050 + arduino + processing

http://playground.arduino.cc/Main/MPU-6050

http://www.geekmomprojects.com/mpu-6050-dmp-data-from-i2cdevlib/#more-770

  • 5V<->VCC (the GY-521 contains a voltage regulator and can use 3.3V or 5V)
  • GND<->GND
  • A5<->SCL
  • A4<->SDA
  • Arduino Pin 2<->INT (used for interrupts)

2 repertoires a copier dans C:\Users\ADOBE\Documents\Arduino\libraries :

https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/I2Cdev

https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050

 

sketch MPU6050TEPOTDEMO

// I2C device class (I2Cdev) demonstration Processing sketch for MPU6050 DMP output
// 6/20/2012 by Jeff Rowberg <jeff@rowberg.net>
// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
//
// Changelog:
//     2012-06-20 – initial release

/* ============================================
I2Cdev device library code is placed under the MIT license
Copyright (c) 2012 Jeff Rowberg

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the « Software »), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED « AS IS », WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
===============================================
*/

import processing.serial.*;
import processing.opengl.*;
import toxi.geom.*;
import toxi.processing.*;

// NOTE: requires ToxicLibs to be installed in order to run properly.
// 1. Download from http://toxiclibs.org/downloads
// 2. Extract into [userdir]/Processing/libraries
//    (location may be different on Mac/Linux)
// 3. Run and bask in awesomeness

ToxiclibsSupport gfx;

Serial port;                         // The serial port
char[] teapotPacket = new char[14];  // InvenSense Teapot packet
int serialCount = 0;                 // current packet byte position
int aligned = 0;
int interval = 0;
//DA – added the variable below to fix byte alignment over the Serial port
boolean gotFirstDataByte = false;

float[] q = new float[4];
Quaternion quat = new Quaternion(1, 0, 0, 0);

float[] gravity = new float[3];
float[] euler = new float[3];
float[] ypr = new float[3];

void setup() {
// 300px square viewport using OpenGL rendering
size(300, 300, OPENGL);
gfx = new ToxiclibsSupport(this);

// setup lights and antialiasing
lights();
smooth();

// display serial port list for debugging/clarity
println(Serial.list());

// get the first available port (use EITHER this OR the specific port code below)
// DA – changed the port to second one in the list (for my laptop)
//String portName = Serial.list()[1];

// get a specific serial port (use EITHER this OR the first-available code above)
String portName = « COM6 »;

// open the serial port
//DA – changed the serial data rate to 38400
port = new Serial(this, portName, 115200);

// send single character to trigger DMP init/start
// (expected by MPU6050_DMP6 example Arduino sketch)
port.write(‘r’);
//DA – I added two more of these because the program seems to hang otherwise
port.write(‘r’);
port.write(‘r’);
}

void draw() {
if (millis() – interval > 1000) {
// resend single character to trigger DMP init/start
// in case the MPU is halted/reset while applet is running
port.write(‘r’);
interval = millis();
}

// black background
background(0);

// translate everything to the middle of the viewport
pushMatrix();
translate(width / 2, height / 2);

// 3-step rotation from yaw/pitch/roll angles (gimbal lock!)
// …and other weirdness I haven’t figured out yet
//rotateY(-ypr[0]);
//rotateZ(-ypr[1]);
//rotateX(-ypr[2]);

// toxiclibs direct angle/axis rotation from quaternion (NO gimbal lock!)
// (axis order [1, 3, 2] and inversion [-1, +1, +1] is a consequence of
// different coordinate system orientation assumptions between Processing
// and InvenSense DMP)
float[] axis = quat.toAxisAngle();
rotate(axis[0], -axis[1], axis[3], axis[2]);

// draw main body in red
fill(255, 0, 0, 200);
box(10, 10, 200);

// draw front-facing tip in blue
fill(0, 0, 255, 200);
pushMatrix();
translate(0, 0, -120);
rotateX(PI/2);
drawCylinder(0, 20, 20, 8);
popMatrix();

// draw wings and tail fin in green
fill(0, 255, 0, 200);
beginShape(TRIANGLES);
vertex(-100,  2, 30); vertex(0,  2, -80); vertex(100,  2, 30);  // wing top layer
vertex(-100, -2, 30); vertex(0, -2, -80); vertex(100, -2, 30);  // wing bottom layer
vertex(-2, 0, 98); vertex(-2, -30, 98); vertex(-2, 0, 70);  // tail left layer
vertex( 2, 0, 98); vertex( 2, -30, 98); vertex( 2, 0, 70);  // tail right layer
endShape();
beginShape(QUADS);
vertex(-100, 2, 30); vertex(-100, -2, 30); vertex(  0, -2, -80); vertex(  0, 2, -80);
vertex( 100, 2, 30); vertex( 100, -2, 30); vertex(  0, -2, -80); vertex(  0, 2, -80);
vertex(-100, 2, 30); vertex(-100, -2, 30); vertex(100, -2,  30); vertex(100, 2,  30);
vertex(-2,   0, 98); vertex(2,   0, 98); vertex(2, -30, 98); vertex(-2, -30, 98);
vertex(-2,   0, 98); vertex(2,   0, 98); vertex(2,   0, 70); vertex(-2,   0, 70);
vertex(-2, -30, 98); vertex(2, -30, 98); vertex(2,   0, 70); vertex(-2,   0, 70);
endShape();

popMatrix();
}

void serialEvent(Serial port) {

interval = millis();
while (port.available() > 0) {
int ch = port.read();
// DA – Added this next if statement because we seem to be getting
//  off byte boundary with initialization warnings
if(!gotFirstDataByte) {
if (ch == ‘$’) {
gotFirstDataByte = true;
} else {
return;
}
}
//println(« Char:  » + (char)ch);
//println((char)ch +  »  » + aligned +  »  » + serialCount);
if (aligned < 4) {
// make sure we are properly aligned on a 14-byte packet
if (serialCount == 0) {
if (ch == ‘$’) aligned++; else aligned = 0;
} else if (serialCount == 1) {
if (ch == 2) aligned++; else aligned = 0;
} else if (serialCount == 12) {
if (ch == ‘\r’) aligned++; else aligned = 0;
} else if (serialCount == 13) {
if (ch == ‘\n’) aligned++; else aligned = 0;
}
//println((char)ch +  »  » + aligned +  »  » + serialCount);
serialCount++;
if (serialCount == 14) serialCount = 0;
} else {
if (serialCount > 0 || ch == ‘$’) {
teapotPacket[serialCount++] = (char)ch;
if (serialCount == 14) {
serialCount = 0; // restart packet byte position

// get quaternion from data packet
q[0] = ((teapotPacket[2] << 8) | teapotPacket[3]) / 16384.0f;
q[1] = ((teapotPacket[4] << 8) | teapotPacket[5]) / 16384.0f;
q[2] = ((teapotPacket[6] << 8) | teapotPacket[7]) / 16384.0f;
q[3] = ((teapotPacket[8] << 8) | teapotPacket[9]) / 16384.0f;
for (int i = 0; i < 4; i++) if (q[i] >= 2) q[i] = -4 + q[i];

// set our toxilibs quaternion to new data
quat.set(q[0], q[1], q[2], q[3]);

/*
// below calculations unnecessary for orientation only using toxilibs

// calculate gravity vector
gravity[0] = 2 * (q[1]*q[3] – q[0]*q[2]);
gravity[1] = 2 * (q[0]*q[1] + q[2]*q[3]);
gravity[2] = q[0]*q[0] – q[1]*q[1] – q[2]*q[2] + q[3]*q[3];

// calculate Euler angles
euler[0] = atan2(2*q[1]*q[2] – 2*q[0]*q[3], 2*q[0]*q[0] + 2*q[1]*q[1] – 1);
euler[1] = -asin(2*q[1]*q[3] + 2*q[0]*q[2]);
euler[2] = atan2(2*q[2]*q[3] – 2*q[0]*q[1], 2*q[0]*q[0] + 2*q[3]*q[3] – 1);

// calculate yaw/pitch/roll angles
ypr[0] = atan2(2*q[1]*q[2] – 2*q[0]*q[3], 2*q[0]*q[0] + 2*q[1]*q[1] – 1);
ypr[1] = atan(gravity[0] / sqrt(gravity[1]*gravity[1] + gravity[2]*gravity[2]));
ypr[2] = atan(gravity[1] / sqrt(gravity[0]*gravity[0] + gravity[2]*gravity[2]));

// output various components for debugging
//println(« q:\t » + round(q[0]*100.0f)/100.0f + « \t » + round(q[1]*100.0f)/100.0f + « \t » + round(q[2]*100.0f)/100.0f + « \t » + round(q[3]*100.0f)/100.0f);
//println(« euler:\t » + euler[0]*180.0f/PI + « \t » + euler[1]*180.0f/PI + « \t » + euler[2]*180.0f/PI);
//println(« ypr:\t » + ypr[0]*180.0f/PI + « \t » + ypr[1]*180.0f/PI + « \t » + ypr[2]*180.0f/PI);
*/
}
}
}
}
}

void drawCylinder(float topRadius, float bottomRadius, float tall, int sides) {
float angle = 0;
float angleIncrement = TWO_PI / sides;
beginShape(QUAD_STRIP);
for (int i = 0; i < sides + 1; ++i) {
vertex(topRadius*cos(angle), 0, topRadius*sin(angle));
vertex(bottomRadius*cos(angle), tall, bottomRadius*sin(angle));
angle += angleIncrement;
}
endShape();

// If it is not a cone, draw the circular top cap
if (topRadius != 0) {
angle = 0;
beginShape(TRIANGLE_FAN);

// Center point
vertex(0, 0, 0);
for (int i = 0; i < sides + 1; i++) {
vertex(topRadius * cos(angle), 0, topRadius * sin(angle));
angle += angleIncrement;
}
endShape();
}

// If it is not a cone, draw the circular bottom cap
if (bottomRadius != 0) {
angle = 0;
beginShape(TRIANGLE_FAN);

// Center point
vertex(0, tall, 0);
for (int i = 0; i < sides + 1; i++) {
vertex(bottomRadius * cos(angle), tall, bottomRadius * sin(angle));
angle += angleIncrement;
}
endShape();
}
}

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