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/* Author = helscream (Omer Ikram ul Haq)
Last edit date = 2014-10-08
Website: Arduino with MPU6050 and angle calculation – HobbyLogs
Location: Pakistan
Ver: 0.1 beta --- Start
Ver: 0.2 beta --- Bug fixed for calculating "angle_y_accel" and "angle_x_accel" in "Gyro_header.ino" file
*/
#include <Wire.h>
#include "gyro_accel.h"
// Defining constants
#define dt 20 // time difference in milli seconds
#define rad2degree 57.3 // Radian to degree conversion
#define Filter_gain 0.95 // e.g. angle = angle_gyro*Filter_gain + angle_accel*(1-Filter_gain)
// ************************************************** *******************
// Global Variables
// ************************************************** *******************
unsigned long t = 0; // Time Variables
float angle_x_gyro = 0, angle_y_gyro = 0, angle_z_gyro = 0, angle _x_accel = 0, angle_y_accel = 0, angle_z_accel = 0, angle_x = 0, angle_y = 0, angle_z = 0;
// ************************************************** *******************
// Main Code
void setup() {
Serial.begin(115200);
Wire.begin();
MPU6050_ResetWake();
MPU6050_SetGains(0, 1); // Setting the lows scale
MPU6050_SetDLPF(0); // Setting the DLPF to inf Bandwidth for calibration
MPU6050_OffsetCal();
MPU6050_SetDLPF(6); // Setting the DLPF to lowest Bandwidth
Serial.print("gyro_x_scalled");
Serial.print("\tgyro_y_scalled");
Serial.print("\tgyro_z_scalled");
Serial.print("\taccel_x_scalled");
Serial.print("\taccel_y_scalled");
Serial.print("\taccel_z_scalled");
Serial.print("\tangle_x_gyro");
Serial.print("\tangle_y_gyro");
Serial.print("\tangle_z_gyro");
Serial.print("\tangle_x_accel");
Serial.print("\tangle_y_accel");
Serial.print("\tangle_z_accel");
Serial.print("\tangle_x");
Serial.print("\tangle_y");
Serial.print("\tangle_z");
Serial.println("\tLoad");
t = millis();
}
void loop() {
int relaypin = 3;
t = millis();
MPU6050_ReadData();
angle_x_gyro = (gyro_x_scalled * ((float)dt / 1000) + angle_x);
angle_y_gyro = (gyro_y_scalled * ((float)dt / 1000) + angle_y);
if (angle_y_gyro < 90) digitalWrite (relaypin, LOW);
else digitalWrite (relaypin, HIGH);
angle_z_gyro = (gyro_z_scalled * ((float)dt / 1000) + angle_z);
angle_z_accel = atan(accel_z_scalled / (sqrt(accel_y_scalled * accel_y_scalled + accel_x_scal led * accel_x_scalled))) * (float)rad2degree;
angle_y_accel = -atan(accel_y_scalled / (sqrt(accel_y_scalled * accel_y_scalled + accel_z_scal led * accel_z_scalled))) * (float)rad2degree;
angle_x_accel = atan(accel_x_scalled / (sqrt(accel_x_scalled * accel_x_scalled + accel_z_scal led * accel_z_scalled))) * (float)rad2degree;
angle_x = Filter_gain * angle_x_gyro + (1 - Filter_gain) * angle_x_accel;
angle_y = Filter_gain * angle_y_gyro + (1 - Filter_gain) * angle_y_accel;
angle_z = Filter_gain * angle_z_gyro + (1 - Filter_gain) * angle_z_accel;
Serial.print(gyro_x_scalled);
Serial.print("\t");
Serial.print(gyro_y_scalled);
Serial.print("\t");
Serial.print(gyro_z_scalled);
Serial.print("\t");
Serial.print(accel_x_scalled);
Serial.print("\t");
Serial.print(accel_y_scalled);
Serial.print("\t");
Serial.print(accel_z_scalled);
Serial.print("\t");
Serial.print(angle_x_gyro);
Serial.print("\t");
Serial.print(angle_y_gyro);
Serial.print("\t");
Serial.print(angle_z_gyro);
Serial.print("\t");
Serial.print(angle_x_accel);
Serial.print("\t");
Serial.print(angle_y_accel);
Serial.print("\t");
Serial.print(angle_z_accel);
Serial.print("\t");
Serial.print(angle_x);
Serial.print("\t");
Serial.print(angle_y);
Serial.print("\t");
Serial.print(angle_z);
Serial.print("\t");
Serial.println(((float)(millis() - t) / (float)dt) * 100);
while ((millis() - t) < dt) { // Making sure the cycle time is equal to dt
// Do nothing
}
}
این خطا را داد
Arduino: 1.6.6 Hourly Build 2015/10/22 05:42 (Windows 7), Board: "Arduino/Genuino Uno"
F:\My circuits\gyro\omega-gyroXXX\omega-gyroXXX.ino:13:24: fatal error: gyro_accel.h: No such file or directory
#include "gyro_accel.h"
^
compilation terminated.
exit status 1
Error compiling.
This report would have more information with
"Show verbose output during compilation"
enabled in File > Preferences.
