最近接触到陀螺仪（角速度传感器），感应任何方向的转角，可以用来检测姿势，在智能手机中大量应用。今天笔者使用树莓派来读取陀螺仪模块，陀螺仪MPU6050传感器模块与树莓派是基于I2C通信协议的。至于笔者这次测试的用途，暂时保密，敬请期待。
笔者以前做过I2C 方式来读取传感器，可以参考。
1、传感器接线图
GND --- GND VCC --- 接树莓派 5V
SDA --- I2C 数据 SCL --- I2C 时钟
树莓派与陀螺仪接线图
接完线后运行命令sudo i2cdetect -y 1 查看 地址为地址为0x68，说明成功连接到i2c传感器。
2、python程序
python通过函数 read_word_2c 读取陀螺仪的寄存器 。程序包括温度测量、陀螺仪测量、加速度计测量。
import smbus
import math
import time
# 电源管理寄存器地址
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))
#math.sqrt(x) 方法返回数字x的平方根
def get_y_rotation(x,y,z):
radians = math.atan2(x, dist(y,z))
#math.atan2(y, x) 返回给定的 X 及 Y 坐标值的反正切值
return -math.degrees(radians)
#math.degrees(x) 将弧度x转换为角度
def get_x_rotation(x,y,z):
radians = math.atan2(y, dist(x,z))
return math.degrees(radians)
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)
while True:
time.sleep(0.1)
print (' ')
temp_out = read_word_2c(0x41)
print ("温度传感器")
print ("temperature: ", temp_out / 340 + 36.53)
gyro_xout = read_word_2c(0x43)
gyro_yout = read_word_2c(0x45)
gyro_zout = read_word_2c(0x47)
print ("XYZ轴陀螺仪计数值,每秒的旋转度数")
print ("gyro_xout : ", gyro_xout, " scaled: ", (gyro_xout / 131)) #倍率250/s
print ("gyro_yout : ", gyro_yout, " scaled: ", (gyro_yout / 131))
print ("gyro_zout : ", gyro_zout, " scaled: ", (gyro_zout / 131))
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 #倍率2g
accel_yout_scaled = accel_yout / 16384.0
accel_zout_scaled = accel_zout / 16384.0
print ("XYZ轴加速度计数值,每秒的旋转度数")
print ("accel_xout: ", accel_xout, " scaled: ", accel_xout_scaled)
print ("accel_yout: ", accel_yout, " scaled: ", accel_yout_scaled)
print ("accel_zout: ", accel_zout, " scaled: ", accel_zout_scaled)
print ("XY轴旋转度数")
print ("x rotation: " , get_x_rotation(accel_xout_scaled, accel_yout_scaled, accel_zout_scaled))
print ("y rotation: " , get_y_rotation(accel_xout_scaled, accel_yout_scaled, accel_zout_scaled))
time.sleep(0.5)
3、测试运行结果
python3 tuoluoyi.py ：
4、实际效果图
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