Learning Robotics Using Python

Author:Joseph, Lentin
Language: eng
Format: epub
Publisher: Packt Publishing
Published: 2015-05-26T16:00:00+00:00

The following code is the loop() function, which continuously reads the sensor value and prints its values through the serial port: The Update_MPU6050() custom function is responsible for printing the updated value from MPU 6050:

void loop() { //Update MPU 6050 Update_MPU6050(); }

The definition of Update_MPU6050() is given as follows. It declares six variables to handle the accelerometer and gyroscope value in 3-axis. The getMotion6() function in the MPU 6050 class is responsible for reading the new values from the sensor. After reading, it will print via the serial port:

void Update_MPU6050() { int16_t ax, ay, az; int16_t gx, gy, gz; // read raw accel/gyro measurements from device accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); // display tab-separated accel/gyro x/y/z values Serial.print("i");Serial.print("\t"); Serial.print(ax); Serial.print("\t"); Serial.print(ay); Serial.print("\t"); Serial.print(az); Serial.print("\t"); Serial.print(gx); Serial.print("\t"); Serial.print(gy); Serial.print("\t"); Serial.println(gz); Serial.print("\n"); }

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