树梅派MPU6050陀螺仪传感器

 

接线图如下：我只接了SDA和SLA  ，vcc和gnd自己接

 代码：PYTHON

#!/usr/bin/python
import smbus
import math
import time
import RPi.GPIO as GPIO

GPIO.setmode(GPIO.BOARD)  
GPIO.setup(16, GPIO.OUT)

# Power management registers
power_mgmt_1 = 0x6b
power_mgmt_2 = 0x6c

def read_byte(adr):
    return bus.read_byte_data(address, adr)

def read_word(adr):
    high = bus.read_byte_data(address, adr)
    low = bus.read_byte_data(address, adr+1)
    val = (high << 8) + low
    return val
def read_word_2c(adr):
    val = read_word(adr)
    if (val >= 0x8000):
        return -((65535 - val) + 1)
    else:
        return val

def dist(a,b):
    return math.sqrt((a*a)+(b*b))

def get_y_rotation(x,y,z):
    radians = math.atan2(x, dist(y,z))
    return -math.degrees(radians)

def get_x_rotation(x,y,z):
    radians = math.atan2(y, dist(x,z))
    return math.degrees(radians)
ii=1;
while True:
 print(ii)
 ii=ii+1
 bus = smbus.SMBus(1) # or bus = smbus.SMBus(1) for Revision 2 boards
 address = 0x68       # This is the address value read via the i2cdetect command

 # Now wake the 6050 up as it starts in sleep mode
 bus.write_byte_data(address, power_mgmt_1, 0)


 # print ("-----------------------陀螺仪数据--------------------")
 

 gyro_xout = read_word_2c(0x43)
 gyro_yout = read_word_2c(0x45)
 gyro_zout = read_word_2c(0x47)

# print ("X轴陀螺仪计数值: ", gyro_xout, " X每秒的旋转度数: ", (gyro_xout / 131))
# print ("Y轴陀螺仪计数值: ", gyro_yout, " Y每秒的旋转度数: ", (gyro_yout / 131))
# print ("Z轴陀螺仪计数值: ", gyro_zout, " Z每秒的旋转度数: ", (gyro_zout / 131))


# print ("------加速度数据--------")
 

 accel_xout = read_word_2c(0x3b)
 accel_yout = read_word_2c(0x3d)
 accel_zout = read_word_2c(0x3f)

 accel_xout_scaled = accel_xout / 16384.0
 accel_yout_scaled = accel_yout / 16384.0
 accel_zout_scaled = accel_zout / 16384.0
  
# print ("X轴加速度计数值: ", accel_xout, " X每秒的旋转度数: ", accel_xout_scaled)
# print ("Y轴加速度计数值: ", accel_yout, " Y每秒的旋转度数: ", accel_yout_scaled)
# print ("Z轴加速度计数值: ", accel_zout, " Z每秒的旋转度数: ", accel_zout_scaled)

# print ("X轴旋转度数: " , get_x_rotation(accel_xout_scaled, accel_yout_scaled, accel_zout_scaled))

# print ("Y轴旋转度数: " , get_y_rotation(accel_xout_scaled, accel_yout_scaled, accel_zout_scaled))
 xx=get_x_rotation(accel_xout_scaled, accel_yout_scaled, accel_zout_scaled)
 yy=get_y_rotation(accel_xout_scaled, accel_yout_scaled, accel_zout_scaled)
 print(xx," ",yy)