基于arduino的运动计步器

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mob604756e6a4ae 2020-12-13 14:59:00

文章标签 #define #include #if #endif html 文章分类 代码人生

6050或9250陀螺仪用来计步 I2C A4-SDA A5-SCL；OLED屏幕用来显示SPI接口 13-RES 12-CS 11-DC 10-SCK 9-SDA 。

代码：

1 #include "I2Cdev.h"
  2 #include "MPU6050.h"
  3 #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
  4 #include "Wire.h"
  5 #include <MsTimer2.h> https://www.pjrc.com/teensy/td_libs_MsTimer2.html
  6 #endif
  7 MPU6050 accelgyro;
  8 int16_t ax, ay, az;
  9 int16_t gx, gy, gz;
 10 int axoffs,ayoffs,azoffs;
 11 float rax,ray,raz;
 12 float ax0,ay0,az0;
 13 float ax1,ay1,az1;
 14 double t1;
 15 double t0;
 16 double t;
 17 int sum;
 18 int count=0;
 19 #define OUTPUT_READABLE_ACCELGYRO
 20 bool blinkState = false;
 21 
 22 #include <SPI.h>
 23 #include <Wire.h>
 24 #include <Adafruit_GFX.h>
 25 #include <Adafruit_SSD1306.h>
 26 #include <MsTimer2.h>
 27 #define OLED_MOSI   9
 28 #define OLED_CLK   10
 29 #define OLED_DC    11
 30 #define OLED_CS    12
 31 #define OLED_RESET 13
 32 Adafruit_SSD1306 display(OLED_MOSI, OLED_CLK, OLED_DC, OLED_RESET, OLED_CS);
 33 #define NUMFLAKES 10
 34 #define XPOS 0
 35 #define YPOS 1
 36 #define DELTAY 2
 37 //#define LOGO16_GLCD_HEIGHT 16 
 38 //#define LOGO16_GLCD_WIDTH  16
 39 unsigned char str_30[16];//个
 40 unsigned char str_31[16];//十
 41 unsigned char str_32[16];//百
 42 unsigned char str_20[] =
 43 {
 44   0xFF, 0xFF, 0xFF, 0xE7, 0xDB, 0xBD, 0xBD, 0xBD, 0xBD, 0xBD, 0xBD, 0xBD, 0xDB, 0xE7, 0xFF, 0xFF, /*"0",0*/
 45   0xFF, 0xFF, 0xFF, 0xEF, 0x8F, 0xEF, 0xEF, 0xEF, 0xEF, 0xEF, 0xEF, 0xEF, 0xEF, 0x83, 0xFF, 0xFF, /*"1",1*/
 46   0xFF, 0xFF, 0xFF, 0xC3, 0xBD, 0xBD, 0xBD, 0xFB, 0xFB, 0xF7, 0xEF, 0xDF, 0xBD, 0x81, 0xFF, 0xFF, /*"2",2*/
 47   0xFF, 0xFF, 0xFF, 0xC3, 0xBD, 0xBD, 0xFB, 0xE7, 0xFB, 0xFD, 0xFD, 0xBD, 0xBB, 0xC7, 0xFF, 0xFF, /*"3",3*/
 48   0xFF, 0xFF, 0xFF, 0xFB, 0xF3, 0xEB, 0xDB, 0xDB, 0xBB, 0xBB, 0x81, 0xFB, 0xFB, 0xE1, 0xFF, 0xFF, /*"4",4*/
 49   0xFF, 0xFF, 0xFF, 0x81, 0xBF, 0xBF, 0xBF, 0xA7, 0x9B, 0xFD, 0xFD, 0xBD, 0xBB, 0xC7, 0xFF, 0xFF, /*"5",5*/
 50   0xFF, 0xFF, 0xFF, 0xE3, 0xDB, 0xBF, 0xBF, 0xA7, 0x9B, 0xBD, 0xBD, 0xBD, 0xDB, 0xE7, 0xFF, 0xFF, /*"6",6*/
 51   0xFF, 0xFF, 0xFF, 0x81, 0xBB, 0xBB, 0xF7, 0xF7, 0xEF, 0xEF, 0xEF, 0xEF, 0xEF, 0xEF, 0xFF, 0xFF, /*"7",7*/
 52   0xFF, 0xFF, 0xFF, 0xC3, 0xBD, 0xBD, 0xBD, 0xDB, 0xE7, 0xDB, 0xBD, 0xBD, 0xBD, 0xC3, 0xFF, 0xFF, /*"8",8*/
 53   0xFF, 0xFF, 0xFF, 0xE7, 0xDB, 0xBD, 0xBD, 0xBD, 0xD9, 0xE5, 0xFD, 0xFD, 0xDB, 0xC7, 0xFF, 0xFF /*"9",9*/
 54 };
 55 #if (SSD1306_LCDHEIGHT != 64)
 56 #error("Height incorrect, please fix Adafruit_SSD1306.h!");
 57 #endif
 58 int ge,shi,bai,qian;
 59 void jisuan();
 60 void setup() 
 61 {
 62         #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
 63         Wire.begin();
 64         #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
 65         Fastwire::setup(400, true);
 66         #endif
 67         Serial.begin(9600);
 68     display.clearDisplay();
 69     display.begin(SSD1306_SWITCHCAPVCC);
 70         Serial.println("Initializing I2C devices...");
 71         accelgyro.initialize();
 72         accelgyro.setFullScaleGyroRange(MPU6050_GYRO_FS_500);
 73         accelgyro.setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
 74         Serial.println("Testing device connections...");
 75         Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
 76         getoffs();
 77         MsTimer2::set(1000,jisuan);
 78         MsTimer2::start();
 79 
 80 }
 81 void jisuan()
 82 {
 83       sum=abs(abs(ax1)+abs(ay1)+abs(az1));
 84       if(sum>18)
 85       {
 86       count++;
 87       sum=0;
 88       }
 89       if(count<10) {ge=count; shi=0; bai=0;}
 90       if((count>=10)&&(count<100)) { ge=count%10; shi=count/10; bai=0;}
 91       if((count>=100)&&(count<1000)) {ge=count%100%10; shi=count%100/10; bai=count/100;}
 92       if(count>1000)          {ge=0;shi=0;bai=0;}
 93 }
 94 void xianshi()
 95 {
 96   int i1,i2,i3;
 97   for(i1=0;i1<16;i1++)
 98       {
 99        str_30[i1]=str_20[ge*16+i1]; 
100        }
101   for(i2=0;i2<16;i2++)
102       {
103        str_31[i2]=str_20[shi*16+i2]; 
104        }
105    for(i3=0;i3<16;i3++)
106         {
107          str_32[i3]=str_20[bai*16+i3]; 
108          }
109 
110    display.clearDisplay();  
111   }
112 void zhi()
113 {
114     accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
115     t0=t1;
116     t1=micros();
117     t=(t1-t0)/1000000;
118     ax=ax+axoffs;
119     ay=ay+ayoffs;
120     az=az+azoffs; 
121     rax=ax;
122     ray=ay;
123     raz=az;
124     ax1=(rax/16384)*9.80;
125     ay1=(ray/16384)*9.80;
126     az1=(raz/16384)*9.80;
127   
128   }
129 void getoffs()
130 {
131       int16_t ax, ay, az;
132       int16_t gx, gy, gz;
133       long int axsum=0;
134       long int aysum=0;
135       long int azsum=0;
136       int i;
137           for(i=1;i<=2000;i++)
138           {
139               accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
140               axsum=ax+axsum;
141               aysum=ay+aysum;
142               azsum=az+azsum-16384;
143           }
144       axoffs=-axsum/2000;
145       ayoffs=-aysum/2000;
146       azoffs=-azsum/2000;
147 }
148 void loop() 
149 {
150     zhi();
151     Serial.print(count);  Serial.print(bai);  Serial.print(shi);  Serial.println(ge); 
152     xianshi();
153    display.clearDisplay();
154 //   display.drawBitmap(39, 25, str_33, 8, 16, 1);//千
155    display.drawBitmap(47, 25, str_32, 8, 16, 1);//百
156    display.drawBitmap(55, 25, str_31, 8, 16, 1);//十
157    display.drawBitmap(63, 25, str_30, 8, 16, 1);//个
158 //  display.setTextSize(1);             //设置字体大小
159 //  display.setTextColor(WHITE); //设置字体黑色，字体背景白色
160 //  display.setCursor(40,16);            //设置字体的起始位置
161 //  display.println("Steps:");   //输出字符并换行
162     display.display();
163    
164 }