MPU6050三軸陀螺儀及三軸加速計感測模組

電路圖

程式列表

Python - mpu6050.py

# Simple library for ePy-Lite on ESP8266 with micropython

# Reference: https://github.com/adamjezek98/MPU6050-ESP8266-MicroPython

import machine

class accel():

def __init__(self, i2c, addr=0x68):

self.iic = i2c

self.addr = addr

self.iic.send(bytearray([107, 0]),self.addr)

def get_raw_values(self):

a = bytearray(14)

self.iic.send(bytearray([0x3B]),self.addr)

self.iic.recv(a,self.addr)

return a

def get_ints(self):

b = self.get_raw_values()

c = []

for i in b:

c.append(i)

return c

def bytes_toint(self, firstbyte, secondbyte):

if not firstbyte & 0x80:

return firstbyte << 8 | secondbyte

return - (((firstbyte ^ 255) << 8) | (secondbyte ^ 255) + 1)

def get_values(self):

raw_ints = self.get_raw_values()

vals = {}

vals["AcX"] = self.bytes_toint(raw_ints[0], raw_ints[1])

vals["AcY"] = self.bytes_toint(raw_ints[2], raw_ints[3])

vals["AcZ"] = self.bytes_toint(raw_ints[4], raw_ints[5])

vals["Tmp"] = self.bytes_toint(raw_ints[6], raw_ints[7]) / 340.00 + 36.53

vals["GyX"] = self.bytes_toint(raw_ints[8], raw_ints[9])

vals["GyY"] = self.bytes_toint(raw_ints[10], raw_ints[11])

vals["GyZ"] = self.bytes_toint(raw_ints[12], raw_ints[13])

return vals # returned in range of Int16

# -32768 to 32767

def val_test(self): # ONLY FOR TESTING! Also, fast reading sometimes crashes IIC

from time import sleep

while 1:

print(self.get_values())

sleep(0.05)

Python - ePy-Lite_MPU6050.py

"""

MPU6050

ePy-Lite MPU6050

-----------------

3V3 Pin1 VCC

GND Pin2 GND

P18_SDA0 Pin3 SDA

P17_SCL0 Pin4 SCL

Pin5 XDA

Pin6 XCL

Pin7 AD0

Pin8 INT

"""

from machine import I2C,LED

from machine import Switch #Get button KEY library

from utime import sleep

import mpu6050

# Start Function

if __name__ == '__main__':

KeyA = Switch('keya') #Create button A

led = LED('ledy')

led.off()

sensor_i2c = I2C(0,I2C.MASTER,baudrate=100000) #Create I2C0 Master Mode, Baudrate=100kHz

accelerometer = mpu6050.accel(sensor_i2c)

while True:

led.on()

sensor_values = accelerometer.get_values()

print(sensor_values)

led.off()

if KeyA.value() == True: #Press A Key

break

sleep(1)

sensor_i2c.deinit()

執行結果