树莓派控制陀螺仪

#!/usr/bin/python

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)

    gyro_xout = read_word_2c(0x43)

    gyro_yout = read_word_2c(0x45)

    gyro_zout = read_word_2c(0x47)

    

    print ' '

    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 "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 "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)