【Follow me第二季第4期】-任务2：学习IMU基础知识，调试IMU传感器，通过串口打印...

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【Follow me第二季第4期】-任务2：学习IMU基础知识，调试IMU传感器，通过串口打印... [复制链接]

 

任务要求：打印加速度、角速度和温度

根据视频介绍，引入库LSM6DSOX.h

#include <Arduino_LSM6DSOX.h>

初始化之前，声明变量，存放相应数据：

float acc_x,acc_y,acc_z;
float gyro_x,gyro_y,gyro_z;
float temp;
int update_flag;

 

初始化中，对串口和陀螺仪进行初始化，并打印陀螺仪的采样频率：

void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);
  if(!IMU.begin())
  {
    Serial.println("Falled to initialize IMU");
    while(1);
  
  }

  Serial.print("Acc sample rate = ");
  Serial.print(IMU.accelerationSampleRate());
  Serial.println("Hz");

  Serial.print("Gyro sample rate = ");
  Serial.print(IMU.gyroscopeSampleRate());
  Serial.println("Hz");

}

循环函数中，为了更好的观察采样数据，循环打印采样频率，并打印三轴加速度、三轴角速度和温度

void loop() {
  // put your main code here, to run repeatedly:
  Serial.print("Acc sample rate = ");
  Serial.print(IMU.accelerationSampleRate());
  Serial.println("Hz");

  Serial.print("Gyro sample rate = ");
  Serial.print(IMU.gyroscopeSampleRate());
  Serial.println("Hz");


  if (IMU.accelerationAvailable())
  {
    IMU.readAcceleration(acc_x,acc_y,acc_z);
    update_flag = 1;
  }
  if (IMU.gyroscopeAvailable())
  {
    IMU.readGyroscope(gyro_x,gyro_y,gyro_z);
    update_flag = 1;
  }
  if (IMU.temperatureAvailable())
  {
    IMU.readTemperatureFloat(temp);
    update_flag = 1;
  }
  if (update_flag)
  {
    update_flag=0;
    Serial.print(acc_x);
    Serial.print(',');

    Serial.print(acc_y);
    Serial.print(',');

    Serial.print(acc_z);
    Serial.print(',');

    Serial.print(gyro_x);
    Serial.print(',');

    Serial.print(gyro_y);
    Serial.print(',');

    Serial.print(gyro_z);
    Serial.print(',');

    Serial.print(gyro_x);
    Serial.print(',');
    
    Serial.println(temp);
    delay(500);

  }

}

全部代码如下：

#include <Arduino_LSM6DSOX.h>
float acc_x,acc_y,acc_z;
float gyro_x,gyro_y,gyro_z;
float temp;
int update_flag;

void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);
  if(!IMU.begin())
  {
    Serial.println("Falled to initialize IMU");
    while(1);
  
  }

  Serial.print("Acc sample rate = ");
  Serial.print(IMU.accelerationSampleRate());
  Serial.println("Hz");

  Serial.print("Gyro sample rate = ");
  Serial.print(IMU.gyroscopeSampleRate());
  Serial.println("Hz");

}

void loop() {
  // put your main code here, to run repeatedly:
  Serial.print("Acc sample rate = ");
  Serial.print(IMU.accelerationSampleRate());
  Serial.println("Hz");

  Serial.print("Gyro sample rate = ");
  Serial.print(IMU.gyroscopeSampleRate());
  Serial.println("Hz");


  if (IMU.accelerationAvailable())
  {
    IMU.readAcceleration(acc_x,acc_y,acc_z);
    update_flag = 1;
  }
  if (IMU.gyroscopeAvailable())
  {
    IMU.readGyroscope(gyro_x,gyro_y,gyro_z);
    update_flag = 1;
  }
  if (IMU.temperatureAvailable())
  {
    IMU.readTemperatureFloat(temp);
    update_flag = 1;
  }
  if (update_flag)
  {
    update_flag=0;
    Serial.print(acc_x);
    Serial.print(',');

    Serial.print(acc_y);
    Serial.print(',');

    Serial.print(acc_z);
    Serial.print(',');

    Serial.print(gyro_x);
    Serial.print(',');

    Serial.print(gyro_y);
    Serial.print(',');

    Serial.print(gyro_z);
    Serial.print(',');

    Serial.print(gyro_x);
    Serial.print(',');
    
    Serial.println(temp);
    delay(500);

  }

}

  运行 结果如下：

 

Jacktang

循环函数需要很熟练了