目录

1、库文件安装

（1）方法1-网上下载库文件

（2）方法2-本地库文件夹中添加

2、欧拉角获取

（1）打开测试程序

（2）读欧拉角程序

（3）坐标系和欧拉角说明

（4）串口数据读取

3、代码

4、下载链接

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1、库文件安装

（1）方法1-网上下载库文件

在库中搜索mpu6050，然后安装它

找到如图所示的版本进行安装

（2）方法2-本地库文件夹中添加

找到方法1中下载的压缩文件

如果找不到可以点击本链接，下载

https://download.csdn.net/download/panjinliang066333/89791896

解压后将文件夹复制到如下文件路径，重启软件即可。

重新启动Arduino软件，即可找到MPU6050库文件提供的案例

2、欧拉角获取

（1）打开测试程序

打开例子，使用例子需要做一点修改。或者下载下面改好的例子

https://download.csdn.net/download/panjinliang066333/89791896

（2）读欧拉角程序

①

②

（3）坐标系和欧拉角说明

（4）串口数据读取

3、代码

#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE#include "Wire.h"
#endifMPU6050 mpu;#define OUTPUT_READABLE_YAWPITCHROLL
#define INTERRUPT_PIN 2  
#define LED_PIN 13 
bool blinkState = false;// MPU control/status vars
bool dmpReady = false;  // set true if DMP init was successful
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 euler[3];         // [psi, theta, phi]    Euler angle container
float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector// packet structure for InvenSense teapot demo
uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };// ================================================================
// ===               INTERRUPT DETECTION ROUTINE                ===
// ================================================================volatile bool mpuInterrupt = false;     // indicates whether MPU interrupt pin has gone high
void dmpDataReady() 
{mpuInterrupt = true;
}void setup() 
{// join I2C bus (I2Cdev library doesn't do this automatically)#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIREWire.begin();Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIREFastwire::setup(400, true);#endifSerial.begin(115200);while (!Serial); Serial.println(F("Initializing I2C devices..."));mpu.initialize();pinMode(INTERRUPT_PIN, INPUT);Serial.println(F("Testing device connections..."));Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));Serial.println(F("\nSend any character to begin DMP programming and demo: "));while (Serial.available() && Serial.read()); // empty bufferwhile (!Serial.available());                 // wait for datawhile (Serial.available() && Serial.read()); // empty buffer again// load and configure the DMPSerial.println(F("Initializing DMP..."));devStatus = mpu.dmpInitialize();// supply your own gyro offsets here, scaled for min sensitivitympu.setXGyroOffset(220);mpu.setYGyroOffset(76);mpu.setZGyroOffset(-85);mpu.setZAccelOffset(1788); // 1688 factory default for my test chip// make sure it worked (returns 0 if so)if (devStatus == 0) {// Calibration Time: generate offsets and calibrate our MPU6050mpu.CalibrateAccel(6);mpu.CalibrateGyro(6);mpu.PrintActiveOffsets();// turn on the DMP, now that it's readySerial.println(F("Enabling DMP..."));mpu.setDMPEnabled(true);// enable Arduino interrupt detectionSerial.print(F("Enabling interrupt detection (Arduino external interrupt "));Serial.print(digitalPinToInterrupt(INTERRUPT_PIN));Serial.println(F(")..."));attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);mpuIntStatus = mpu.getIntStatus();Serial.println(F("DMP ready! Waiting for first interrupt..."));dmpReady = true;packetSize = mpu.dmpGetFIFOPacketSize();} else {Serial.print(F("DMP Initialization failed (code "));Serial.print(devStatus);Serial.println(F(")"));}// configure LED for outputpinMode(LED_PIN, OUTPUT);
}void loop() 
{// if programming failed, don't try to do anythingif (!dmpReady) return;// read a packet from FIFOif (mpu.dmpGetCurrentFIFOPacket(fifoBuffer)) { // Get the Latest packet #ifdef OUTPUT_READABLE_QUATERNION// display quaternion values in easy matrix form: w x y zmpu.dmpGetQuaternion(&q, fifoBuffer);Serial.print("quat\t");Serial.print(q.w);Serial.print("\t");Serial.print(q.x);Serial.print("\t");Serial.print(q.y);Serial.print("\t");Serial.println(q.z);#endif#ifdef OUTPUT_READABLE_EULER// display Euler angles in degreesmpu.dmpGetQuaternion(&q, fifoBuffer);mpu.dmpGetEuler(euler, &q);Serial.print("euler\t");Serial.print(euler[0] * 180/M_PI);Serial.print("\t");Serial.print(euler[1] * 180/M_PI);Serial.print("\t");Serial.println(euler[2] * 180/M_PI);#endif#ifdef OUTPUT_READABLE_YAWPITCHROLL// display Euler angles in degreesmpu.dmpGetQuaternion(&q, fifoBuffer);mpu.dmpGetGravity(&gravity, &q);mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);Serial.print("ypr\t");Serial.print(ypr[0] * 180/M_PI);Serial.print("\t");Serial.print(ypr[1] * 180/M_PI);Serial.print("\t");Serial.println(ypr[2] * 180/M_PI);#endif#ifdef OUTPUT_READABLE_REALACCEL// display real acceleration, adjusted to remove gravitympu.dmpGetQuaternion(&q, fifoBuffer);mpu.dmpGetAccel(&aa, fifoBuffer);mpu.dmpGetGravity(&gravity, &q);mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);Serial.print("areal\t");Serial.print(aaReal.x);Serial.print("\t");Serial.print(aaReal.y);Serial.print("\t");Serial.println(aaReal.z);#endif#ifdef OUTPUT_READABLE_WORLDACCEL// display initial world-frame acceleration, adjusted to remove gravity// and rotated based on known orientation from quaternionmpu.dmpGetQuaternion(&q, fifoBuffer);mpu.dmpGetAccel(&aa, fifoBuffer);mpu.dmpGetGravity(&gravity, &q);mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);Serial.print("aworld\t");Serial.print(aaWorld.x);Serial.print("\t");Serial.print(aaWorld.y);Serial.print("\t");Serial.println(aaWorld.z);#endif#ifdef OUTPUT_TEAPOT// display quaternion values in InvenSense Teapot demo format:teapotPacket[2] = fifoBuffer[0];teapotPacket[3] = fifoBuffer[1];teapotPacket[4] = fifoBuffer[4];teapotPacket[5] = fifoBuffer[5];teapotPacket[6] = fifoBuffer[8];teapotPacket[7] = fifoBuffer[9];teapotPacket[8] = fifoBuffer[12];teapotPacket[9] = fifoBuffer[13];Serial.write(teapotPacket, 14);teapotPacket[11]++; // packetCount, loops at 0xFF on purpose#endif// blink LED to indicate activityblinkState = !blinkState;digitalWrite(LED_PIN, blinkState);}delay(1000);
}

4、下载链接

https://download.csdn.net/download/panjinliang066333/89791896

参考

https://zhuanlan.zhihu.com/p/710727388

mpu6050陀螺仪计角度的精准实现方法，基于arduino实现_failed to find mpu6050 chip-CSDN博客