本帖最后由 老铁 于 2017-6-30 10:51 编辑
最近在玩Arduino/Genuino 101，通过用官方网站的代码得到了我想要的欧拉角数据！哈哈，然后开始玩耍吧！我用他们控制舵机，后来问题出现了！ 程序跑着跑着就死了，通过询问各方大神，舵机需要外部供电（我用了双舵机），那就该吧！我外部添加了一个5v的电池组。跑起来…………还是不行，而且是不定性的跑死。今天我把舵机程序给去除了，用官方欧拉角获取数据代码单测……问题找到了，跑死的居然是源码！！！ 难道是我的板子问题？不知道这段代码在你们板子上能跑多长时间！我的板子上运行时间，最短40秒，最长40分，一般情况下就是4分。（不含重启时间）！ 哪位大神能给看看代码，帮忙改一改。--------不会真的是板子问题吧！
[mw_shl_code=bash,true]#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;
}[/mw_shl_code] |
发表于 2017-6-30 10:50
楼主
