Arduino + MPU-6050 傳至 Unity 3D

這個是 Arduino 接上 MPU-6050 並用 UART 將數據傳至 Unity 的 Example

直接看結果圖 & 用程式碼說明吧：

執行結果：

Arduino :

#include <Wire.h>

const int Address = 0x68; // MPU-6050 的 I2C 地址

void setup() {
  Serial.begin(115200); // 初始化串口
  Wire.begin(); // 初始化Wire庫
  WriteMPUReg(0x6B, 0); // 啟動 MPU-6050
}

void loop()
{
  byte date[16]; // 14 + 2 = 16 (14: 資料 , 2: AA AA 分隔符)
  ReadAccGyr(date); //讀出測量值

  for (int i = 0; i < 16; i++) {
    Serial.write(date[i]);
  }
}

void WriteMPUReg(int nReg, unsigned char nVal) {
  Wire.beginTransmission(Address);
  Wire.write(nReg);
  Wire.write(nVal);
  Wire.endTransmission(true);
}

//從 MPU-6050 讀出一個 Byte 的數據
//指定暫存器地址，返回一個 Byte 的值
unsigned char ReadMPUReg(int nReg) {
  Wire.beginTransmission(Address);
  Wire.write(nReg);
  Wire.requestFrom(Address, 1, true);
  Wire.endTransmission(true);
  return Wire.read();
}

// 讀取順序 ( 14 項資料 )：
// [
// Acc_X_H, Acc_X_L, Acc_Y_H, Acc_Y_L, Acc_Z_H, Acc_Z_L,
// Temp_H, Temp_L
// Gyro_X_H, Gyro_X_L, Gyro_Y_H, Gyro_Y_L, Gyro_Z_H, Gyro_Z_L
// ]

// 從MPU-6050 讀出三個加速度計值、溫度值、三個角速度計值
// 保存在指定數組中
void ReadAccGyr(byte *pVals) {
  Wire.beginTransmission(Address);
  Wire.write(0x3B);
  Wire.requestFrom(Address, 14, true);
  Wire.endTransmission(true);

  for (int i = 0; i < 14; i++) {
    pVals[i] = Wire.read();
  }

  pVals[14] = 170; // AA
  pVals[15] = 170; // AA
}

C # :

using System.Collections;
using System.Collections.Generic;
using System.IO.Ports;
using System.Threading;
using System;
using UnityEngine;
using UnityEngine.UI;

public class Test_MPU_6050 : MonoBehaviour
{
    public Text txt_msg;

    void Start()
    {
        new Thread(Run).Start();
        InvokeRepeating("LoopSec", 0, 1);
    }

    int secCount = 0;

    void LoopSec()
    {
        print("一秒接收：" + secCount + " 次");
        secCount = 0;
    }

    float AccX = 0, AccY = 0, AccZ = 0, Temp = 0, GyroX = 0, GyroY = 0, GyroZ = 0;

    void Update()
    {
        txt_msg.text = "";
        txt_msg.text += "AccX : " + AccX.ToString("0.00");
        txt_msg.text += "    ";
        txt_msg.text += "AccY : " + AccY.ToString("0.00");
        txt_msg.text += "    ";
        txt_msg.text += "AccZ : " + AccZ.ToString("0.00");
        txt_msg.text += "\n";

        txt_msg.text += "Temp : " + Temp.ToString("0.00");
        txt_msg.text += "    ";
        txt_msg.text += "\n";

        txt_msg.text += "GyroX : " + GyroX.ToString("0.00");
        txt_msg.text += "    ";
        txt_msg.text += "GyroY : " + GyroY.ToString("0.00");
        txt_msg.text += "    ";
        txt_msg.text += "GyroZ : " + GyroZ.ToString("0.00");
    }

    SerialPort sp = null;
    bool isClose = false;


    void Run()
    {

        Debug.Log("Run");

        string data = "No Data";

        try
        {

            sp = new SerialPort("COM4", 115200, Parity.None, 8, StopBits.One); // 通訊埠為COM5、波特率（Baud rate） 115200

            sp.Open(); // 打開 COM5 通訊埠



            while (isClose == false)
            {
                if (sp.ReadByte() == 0xAA && sp.ReadByte() == 0xAA)
                {
                    List<int> d = new List<int>();


                    while (true)
                    {
                        int dd = sp.ReadByte();
                        int dd2 = sp.ReadByte();
                        if (dd == 0xAA && dd2 == 0xAA)
                        {
                            break;
                        }
                        d.Add(dd);
                        d.Add(dd2);
                    }

                    if (d.Count != 14)
                    {
                        continue;
                    }

                    unchecked
                    {
                        // 加速度計
                        short accX = (short)(d[0] << 8 | d[1]);
                        short accY = (short)(d[2] << 8 | d[3]);
                        short accZ = (short)(d[4] << 8 | d[5]);
                        AccX = accX / 32767.0f;
                        AccY = accY / 32767.0f;
                        AccZ = accZ / 32767.0f;

                        // 溫度
                        short temp = (short)(d[6] << 8 | d[7]);
                        Temp = 36.53f + temp / 340.0f;

                        // 陀螺儀
                        short gyroX = (short)(d[8] << 8 | d[9]);
                        short gyroY = (short)(d[10] << 8 | d[11]);
                        short gyroZ = (short)(d[12] << 8 | d[13]);
                        GyroX = gyroX / 32767.0f;
                        GyroY = gyroY / 32767.0f;
                        GyroZ = gyroZ / 32767.0f;
                    }

                    secCount++;
                }
            }


        }
        catch (Exception ex)
        {
            Debug.Log(ex);
            Debug.Log(data);
            isClose = true;
            sp.Close(); // 關閉 COM5 通訊埠
        }
    }

    private void OnDestroy()
    {
        isClose = true;
        sp.Close();
        print("Close");
    }
}