من پروژه ام رو درست کردم ولی نمیدونم چرا بعد از 5 دقیقه که در حالت اجرا میمونه هنگ میکنه ؟؟ کسی میتونه کمکم کنه ؟
کدم هم اینه :
کد:
#include <Servo.h>
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
//#include "MPU6050.h" // not necessary if using MotionApps include file
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
#include "Wire.h"
#endif
#define LED_PIN 13
bool blinkState = true;
Servo Servo1; // First Servo off the chassis
Servo Servo2; // Second Servo off the chassis
int Servo1Pos = 0;
int Servo2Pos = 0;
float mpuPitch = 0;
float mpuRoll = 0;
float mpuYaw = 0;
// define MPU instance
MPU6050 mpu; // class default I2C address is 0x68; specific I2C addresses may be passed as a parameter here
// MPU control/status vars
uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount; // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer
// orientation/motion vars
Quaternion q; // [w, x, y, z] quaternion container
VectorInt16 aa; // [x, y, z] accel sensor measurements
VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements
VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements
VectorFloat gravity; // [x, y, z] gravity vector
float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
// relative ypr[x] usage based on sensor orientation when mounted, e.g. ypr[PITCH]
#define PITCH 1 // defines the position within ypr[x] variable for PITCH; may vary due to sensor orientation when mounted
#define ROLL 2 // defines the position within ypr[x] variable for ROLL; may vary due to sensor orientation when mounted
#define YAW 0 // defines the position within ypr[x] variable for YAW; may vary due to sensor orientation when mounted
// ================================================================
// === INITIAL SETUP ===
// ================================================================
void setup()
{
Servo1.attach(10); // attaches the servo on D11 to the servo object
Servo2.attach(11); // Second servo on D11
delay(50);
Servo1.write(0); // These are command checks to see if the servos work and
Servo2.write(60); // to help w/ the initial installation.
delay(500); // Make sure these movements are clear from the rest of the chassis.
Servo1.write(180);
Servo2.write(120);
delay(500);
Servo1.write(0);
Servo2.write(90);
delay(500);
// join I2C bus (I2Cdev library doesn't do this automatically)
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
Wire.begin();
TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz)
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
Fastwire::setup(400, true);
#endif
Serial.begin(115200);
while (!Serial); // wait for Leonardo enumeration, others continue immediately
// initialize device
Serial.println(F("Initializing I2C devices..."));
mpu.initialize();
// verify connection
Serial.println(F("Testing device connections..."));
Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
// load and configure the DMP
Serial.println(F("Initializing DMP"));
devStatus = mpu.dmpInitialize();
// INPUT CALIBRATED OFFSETS HERE; SPECIFIC FOR EACH UNIT AND EACH MOUNTING CONFIGURATION!!!!
mpu.setXGyroOffset(118);
mpu.setYGyroOffset(-44);
mpu.setZGyroOffset(337);
mpu.setXAccelOffset(-651);
mpu.setYAccelOffset(670);
mpu.setZAccelOffset(1895);
// make sure it worked (returns 0 if so)
if (devStatus == 0)
{
// turn on the DMP, now that it's ready
Serial.println(F("Enabling DMP"));
mpu.setDMPEnabled(true);
// enable Arduino interrupt detection
Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)"));
mpuIntStatus = mpu.getIntStatus();
// get expected DMP packet size for later comparison
packetSize = mpu.dmpGetFIFOPacketSize();
}
else
{
// ERROR!
// 1 = initial memory load failed, 2 = DMP configuration updates failed (if it's going to break, usually the code will be 1)
Serial.print(F("DMP Initialization failed code = "));
Serial.println(devStatus);
}
// configure LED for output
pinMode(LED_PIN, OUTPUT);
} // setup()
// ================================================================
// === MAIN PROGRAM LOOP ===
// ================================================================
void loop(void)
{
processAccelGyro();
} // loop()
// ================================================================
// === PROCESS ACCEL/GYRO IF AVAILABLE ===
// ================================================================
void processAccelGyro()
{
// Get INT_STATUS byte
mpuIntStatus = mpu.getIntStatus();
// get current FIFO count
fifoCount = mpu.getFIFOCount();
// check for overflow (this should never happen unless our code is too inefficient)
if ((mpuIntStatus & 0x10) || fifoCount == 1024)
{
// reset so we can continue cleanly
mpu.resetFIFO();
Serial.println(F("FIFO overflow!"));
return;
}
if (mpuIntStatus & 0x02) // otherwise continue processing
{
// check for correct available data length
if (fifoCount < packetSize)
return; // fifoCount = mpu.getFIFOCount();
// read a packet from FIFO
mpu.getFIFOBytes(fifoBuffer, packetSize);
// track FIFO count here in case there is > 1 packet available
fifoCount -= packetSize;
// flush buffer to prevent overflow
mpu.resetFIFO();
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
mpuPitch = ypr[PITCH] * 180 / M_PI;
mpuRoll = ypr[ROLL] * 180 / M_PI;
mpuYaw = ypr[YAW] * 180 / M_PI;
// flush buffer to prevent overflow
mpu.resetFIFO();
// blink LED to indicate activity
blinkState = !blinkState;
digitalWrite(LED_PIN, blinkState);
// flush buffer to prevent overflow
mpu.resetFIFO();
Servo1.write(-mpuPitch + 90);
Servo2.write(mpuRoll + 90);
//delay(10);
// flush buffer to prevent overflow
mpu.resetFIFO();
} // if (mpuIntStatus & 0x02)
} // processAccelGyro()
پروژه نگه داشتن در حالت تعادل دوربین
مجوز های ارسال و ویرایش
6 لایک 
LinkBack URL
About LinkBacks
پاسخ با نقل قول