Paso 2: Añadir este código a tu cosa de entrada de dispositivo de transmisor
IMPORTANTE: Desconecte los pines RX y TX y añadir este código a la placa.
#include "I2Cdev.h" #include "MPU6050_6Axis_MotionApps20.h" #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE #include "Wire.h" #endif MPU6050 mpu; bool dmpReady = false; uint8_t mpuIntStatus; uint8_t devStatus; uint16_t packetSize; uint16_t fifoCount; uint8_t fifoBuffer[64]; Quaternion q; VectorInt16 aa; VectorInt16 aaReal; VectorInt16 aaWorld; VectorFloat gravity; float euler[3]; float ypr[3]; volatile bool mpuInterrupt = false; void setup() { #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE Wire.begin(); TWBR = 24; #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE Fastwire::setup(400, true); #endif Serial.begin(9600); //For use with Arduino Uno Serial1.begin(9600); //For use with Leonardo Serial.println(F("Initializing I2C devices...")); mpu.initialize(); Serial.println(F("Testing device connections...")); Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed")); Serial.println(F("Initializing DMP...")); devStatus = mpu.dmpInitialize(); mpu.setXGyroOffset(220); mpu.setYGyroOffset(76); mpu.setZGyroOffset(-85); mpu.setZAccelOffset(1788); if (devStatus == 0) { Serial.println(F("Enabling DMP...")); mpu.setDMPEnabled(true); Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)...")); attachInterrupt(0, dmpDataReady, RISING); mpuIntStatus = mpu.getIntStatus(); Serial.println(F("DMP ready! Waiting for first interrupt...")); dmpReady = true; packetSize = mpu.dmpGetFIFOPacketSize(); } else { Serial.print(F("DMP Initialization failed (code ")); Serial.print(devStatus); Serial.println(F(")")); } } void sendData(int x, int y, int z) { if(z < -10){ //forward Serial1.write("f"); // Write to Leonardo Serial1.write(10); //Stop Bit Serial.write("f"); // Write to Uno Serial.write(10); //Stop bit } else if (z > 0){ //backward Serial1.write("b"); Serial1.write(10); Serial.write("b"); Serial.write(10); } else if (y > 5){ //To make more sensitive change value to 4 or less //right Serial1.write("r"); Serial1.write(10); Serial.write("r"); Serial.write(10); } else if (y < -5){ //To make more sensitive change to -4 or greater //left Serial1.write("l"); Serial1.write(10); Serial.write("l"); Serial.write(10); } else //stop Serial1.write("s"); Serial1.write(10); Serial.write("s"); Serial.write(10); } void loop() { if (!dmpReady) return; mpuInterrupt = false; mpuIntStatus = mpu.getIntStatus(); fifoCount = mpu.getFIFOCount(); if ((mpuIntStatus & 0x10) || fifoCount == 1024) { mpu.resetFIFO(); Serial.println(F("FIFO Overflow")); } else if (mpuIntStatus & 0x02) { while (fifoCount < packetSize) { fifoCount = mpu.getFIFOCount(); } mpu.getFIFOBytes(fifoBuffer, packetSize); fifoCount -= packetSize; mpu.dmpGetQuaternion(&q, fifoBuffer); mpu.dmpGetGravity(&gravity, &q); mpu.dmpGetYawPitchRoll(ypr, &q, &gravity); sendData(ypr[0] * 180/M_PI, ypr[1] * 180/M_PI, ypr[2] * 180/M_PI); } } void dmpDataReady() { mpuInterrupt = true; }
