本帖最后由 芥末秋刀鱼 于 2017-6-11 20:14 编辑
Curie Nano上板载 加速度计，罗盘，还有陀螺仪是最吸引人的，现在赶快来上电玩一下吧
材料：Curie Nano和数据线足以
软件：arduino IDE和processing
先再IDE里配置一下开发环境吧
要arduino1.6.7以上的IDE才可以
1) 打开IDE，选择菜单栏工具"Tools"，下拉栏点击板子"Board"选项，打开Boards Manager选项来扩展安装Intel Curie主板的编程库和驱动。
2) 在Board Manager弹出窗口中，找到"Intel Curie Boards by Intel version..."选项，在左下方，选择最新版本"select version"，点击"Install"按钮，成功安装后效果如图。 3) 在成功安装Intel Curie Boards的插件和驱动包之后，在Board选项中就能选择并对所有基于Curie的开发板进行编程了。你有可能安装2.0.0的版本失败是因为你没翻墙，不能下载的话翻一下墙，不会翻墙的话下载那个低版本的即可。
废话不多说，先来跑一下101的那个互动示例吧
姿态解算Arduino官方提供了现成的解决方案，这让测试顺利的不行不行的
示例程序来自Madgwick库示例，可通过Arduino IDE菜单>文件>示例>Madgwick>Visualize101打开。即可
这个姿态算法把陀螺仪和加速度数据加以融合，然后返回四元数形式的姿态参数。接着通过四元数计算欧拉角，得到俯仰角（英文名pitch），横滚角（英文名roll）和偏航角（英文名yaw）。
IDE的代码：（烧录程序时板型选择101）
[kenrobot_code]#include <CurieIMU.h>
#include <MadgwickAHRS.h>
Madgwick filter;
unsigned long microsPerReading, microsPrevious;
float accelScale, gyroScale;
void setup() {
Serial.begin(9600);
// start the IMU and filter
CurieIMU.begin();
CurieIMU.setGyroRate(25);
CurieIMU.setAccelerometerRate(25);
filter.begin(25);
// Set the accelerometer range to 2G
CurieIMU.setAccelerometerRange(2);
// Set the gyroscope range to 250 degrees/second
CurieIMU.setGyroRange(250);
// initialize variables to pace updates to correct rate
microsPerReading = 1000000 / 25;
microsPrevious = micros();
}
void loop() {
int aix, aiy, aiz;
int gix, giy, giz;
float ax, ay, az;
float gx, gy, gz;
float roll, pitch, heading;
unsigned long microsNow;
// check if it's time to read data and update the filter
microsNow = micros();
if (microsNow - microsPrevious >= microsPerReading) {
// read raw data from CurieIMU
CurieIMU.readMotionSensor(aix, aiy, aiz, gix, giy, giz);
// convert from raw data to gravity and degrees/second units
ax = convertRawAcceleration(aix);
ay = convertRawAcceleration(aiy);
az = convertRawAcceleration(aiz);
gx = convertRawGyro(gix);
gy = convertRawGyro(giy);
gz = convertRawGyro(giz);
// update the filter, which computes orientation
filter.updateIMU(gx, gy, gz, ax, ay, az);
// print the heading, pitch and roll
roll = filter.getRoll();
pitch = filter.getPitch();
heading = filter.getYaw();
Serial.print("Orientation: ");
Serial.print(heading);
Serial.print(" ");
Serial.print(pitch);
Serial.print(" ");
Serial.println(roll);
// increment previous time, so we keep proper pace
microsPrevious = microsPrevious + microsPerReading;
}
}
float convertRawAcceleration(int aRaw) {
// since we are using 2G range
// -2g maps to a raw value of -32768
// +2g maps to a raw value of 32767
float a = (aRaw * 2.0) / 32768.0;
return a;
}
float convertRawGyro(int gRaw) {
// since we are using 250 degrees/seconds range
// -250 maps to a raw value of -32768
// +250 maps to a raw value of 32767
float g = (gRaw * 250.0) / 32768.0;
return g;
}[/kenrobot_code]
下面是processing中的代码，这个是101的示例，本人对processing不怎么懂，准备自学，这里就不仔细介绍了。
[mw_shl_code=cpp,true]import processing.serial.*;
Serial myPort;
float yaw = 0.0;
float pitch = 0.0;
float roll = 0.0;
void setup()
{
size(600, 500, P3D);
// if you have only ONE serial port active
myPort = new Serial(this, Serial.list()[0], 9600); // if you have only ONE serial port active
// if you know the serial port name
//myPort = new Serial(this, "COM5:", 9600); // Windows
//myPort = new Serial(this, "/dev/ttyACM0", 9600); // Linux
//myPort = new Serial(this, "/dev/cu.usbmodem1217321", 9600); // Mac
textSize(16); // set text size
textMode(SHAPE); // set text mode to shape
}
void draw()
{
serialEvent(); // read and parse incoming serial message
background(255); // set background to white
lights();
translate(width/2, height/2); // set position to centre
pushMatrix(); // begin object
float c1 = cos(radians(roll));
float s1 = sin(radians(roll));
float c2 = cos(radians(pitch));
float s2 = sin(radians(pitch));
float c3 = cos(radians(yaw));
float s3 = sin(radians(yaw));
applyMatrix( c2*c3, s1*s3+c1*c3*s2, c3*s1*s2-c1*s3, 0,
-s2, c1*c2, c2*s1, 0,
c2*s3, c1*s2*s3-c3*s1, c1*c3+s1*s2*s3, 0,
0, 0, 0, 1);
drawArduino();
popMatrix(); // end of object
// Print values to console
print(roll);
print("\t");
print(pitch);
print("\t");
print(yaw);
println();
}
void serialEvent()
{
int newLine = 13; // new line character in ASCII
String message;
do {
message = myPort.readStringUntil(newLine); // read from port until new line
if (message != null) {
String[] list = split(trim(message), " ");
if (list.length >= 4 && list[0].equals("Orientation:")) {
yaw = float(list[1]); // convert to float yaw
pitch = float(list[2]); // convert to float pitch
roll = float(list[3]); // convert to float roll
}
}
} while (message != null);
}
void drawArduino()
{
/* function contains shape(s) that are rotated with the IMU */
stroke(0, 90, 90); // set outline colour to darker teal
fill(0, 130, 130); // set fill colour to lighter teal
box(300, 10, 200); // draw Arduino board base shape
stroke(0); // set outline colour to black
fill(80); // set fill colour to dark grey
translate(60, -10, 90); // set position to edge of Arduino box
box(170, 20, 10); // draw pin header as box
translate(-20, 0, -180); // set position to other edge of Arduino box
box(210, 20, 10); // draw other pin header as box
}[/mw_shl_code]
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发表于 2017-6-10 19:24
楼主