Arduino 上手教程
2. 设备开发 & 案例程序
3. M5Unified
5. 拓展模块 & 案例
Atom DTU
Hat
StickC IMU 姿态传感器
IMU根据主机配置不同自动调用不同的IMU型号
Init()
功能说明:
初始化 IMU 芯片
函数原型:
int Init(void)
案例程序:
cpp
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#include <M5StickC.h> void setup() { M5.begin(); int x = M5.IMU.Init(); //return 0 is ok, return -1 is unknow. 返回值为0则初始化成功 Serial.println(x);}void loop() {}getGyroData()
功能说明:
获取 IMU 芯片的三轴陀螺仪数据
函数原型:
void getGyroData(float *gx, float *gy, float *gz)
案例程序:
cpp
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#include <M5StickC.h> float gyroX, gyroY, gyroZ; void setup() { M5.begin(); M5.IMU.Init();} void loop() { M5.IMU.getGyroData(&gyroX, &gyroY, &gyroZ); M5.Lcd.setCursor(0, 30); M5.Lcd.printf("X:%7.2f/nY:%7.2f/nZ:%7.2f ", gyroX, gyroY, gyroZ); delay(500);}getAccelData()
功能说明:
获取 IMU 芯片的三轴加速度计数据
函数原型:
void getAccelData(float *ax, float *ay, float *az)
案例程序:
cpp
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#include <M5StickC.h> float accX, accY, accZ; void setup() { M5.begin(); M5.IMU.Init();}void loop() { M5.IMU.getAccelData(&accX, &accY, &accZ); M5.Lcd.setCursor(0, 45); M5.Lcd.printf("X:%5.2f/nY:%5.2f/nZ:%5.2f ", accX, accY, accZ); delay(500);}getAhrsData()
功能说明:
获取 IMU 芯片的姿态
函数原型:
void getAccelData(float *pitch, float *roll, float *yaw)
案例程序:
cpp
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#include <M5StickC.h> float pitch, roll, yaw; void setup() { M5.begin(); M5.IMU.Init();}void loop() { M5.IMU.getAhrsData(&pitch, &roll, &yaw); M5.Lcd.setCursor(0, 45); M5.Lcd.printf("X:%5.2f/nY:%5.2f/nZ:%5.2f ", pitch, roll, yaw); delay(500);}getTempData()
功能说明:
获取 IMU 芯片的温度
函数原型:
void getTempData(float *t)
案例程序:
cpp
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#include <M5StickC.h> float temp; void setup() { M5.begin(); M5.IMU.Init();}void loop() { M5.IMU.getTempData(&temp); M5.Lcd.setCursor(0, 45); M5.Lcd.printf("Temperature : %.2f C", temp); delay(500);}