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IMU ile Kamera Gimbalı KontrolüIMU ile Kamera Gimbali Kontrolü
Arkadaşlar projemin Arduino kodunu da paylaşıyorum.
#include <I2Cdev.h> #include <MPU60X0.h> #include <EEPROM.h> //#define DEBUG #include "DebugUtils.h" #include "CommunicationUtils.h" #include "FreeIMU.h" #include <Wire.h> #include <SPI.h> #include <Servo.h> int raw_values[9]; Servo myservo1; int pos1 = 90; Servo myservo2; int pos2 = 90; //char str[512]; float ypr[3]; // yaw pitch roll float val[9]; // Set the FreeIMU object FreeIMU my3IMU = FreeIMU(); void setup() { Serial.begin(115200); Wire.begin(); myservo1.attach(9); myservo2.attach(8); delay(5); my3IMU.init(); // the parameter enable or disable fast mode delay(5); } void loop() { my3IMU.getYawPitchRoll(ypr); Serial.print("Yaw: "); Serial.print(ypr[0]); Serial.print(" Pitch: "); Serial.print(ypr[1]); Serial.print(" Roll: "); Serial.print(ypr[2]); Serial.println(""); if(ypr[1]>20) { if(pos1<150) { pos1=pos1+2; myservo1.write(pos1); delay(15); } } if(ypr[1]<-20) { if(pos1>30) { pos1=pos1-2; myservo1.write(pos1); delay(15); } } if(ypr[2]>20) { if(pos2>30) { pos2=pos2-2; myservo2.write(pos2); delay(15); } } if(ypr[2]<-20) { if(pos2<150) { pos2=pos2+2; myservo2.write(pos2); delay(15); } } delay(15); }
Etiketler: Arduino Projeleri, arduino servo kontrol, gimbal kontrol, Hava Araçları, IMU, mpu6050