树莓派l连接mpu6050

 

 

 

 

 

 

树莓派读取mpu6050内容

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sudo gedit /etc/modules //文件的最后写入     i2c-bcm2708     i2c-dev //保存退出 然后是可选的，把设备解除屏蔽，一块全新的板子可能是没有的。

　接着去树莓派选项里面，把GPIO打开：　

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1	sudo raspi-config

　　这里有个选项回车进去会有I2C的选项，再回车选择OK就行了，之后重启树莓派

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1	sudo reboot

　　之后让树莓派联网状态下运行

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1	sudo apt-get install i2c-tools //可能你的已经安装了，运行一遍总没错。

　　

链接设备

 

 

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1	sudo i2cdetect -y 1 //这里有点忘记了，也可能是0，最后出来这个就对了

　　

 

 然后代码如图所示：（首先要安装 mpu6050-raspberrypi模块）

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1	pip install mpu6050-raspberrypi

　样例1

　

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from mpu6050 import mpu6050 from time import sleep   sensor = mpu6050(0x68)   while True:     accel_data = sensor.get_accel_data()     gyro_data = sensor.get_gyro_data()     temp = sensor.get_temp()       print("Accelerometer data")     print("x: " + str(accel_data['x']))     print("y: " + str(accel_data['y']))     print("z: " + str(accel_data['z']))       print("Gyroscope data")     print("x: " + str(gyro_data['x']))     print("y: " + str(gyro_data['y']))     print("z: " + str(gyro_data['z']))       print("Temp: " + str(temp) + " C")     sleep(0.5)

　　样例2 单独开一个进程

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#!/usr/bin/python # -*- coding: utf-8 -*- import time from multiprocessing import Process,Manager       from mpu6050 import mpu6050 from time import sleep   print_debug=1 def mpuProcess(ShareImages,lock):           sensor = mpu6050(0x68)       while True:         accel_data = sensor.get_accel_data()         gyro_data = sensor.get_gyro_data()         temp = sensor.get_temp()           if print_debug==1:print("Accelerometer data")         if print_debug==1:print("x: " + str(accel_data['x']))         if print_debug==1:print("y: " + str(accel_data['y']))         if print_debug==1:print("z: " + str(accel_data['z']))                   if print_debug==1:print("Gyroscope data")         if print_debug==1:print("x: " + str(gyro_data['x']))         if print_debug==1:print("y: " + str(gyro_data['y']))         if print_debug==1:print("z: " + str(gyro_data['z']))                   ShareImages[1]=gyro_data['x']         ShareImages[2]=gyro_data['y']         ShareImages[3]=gyro_data['z']           if print_debug==1:print("Temp: " + str(temp) + " C")         sleep(0.5)               if __name__ == '__main__':       lock = Manager().Lock()#创建共享内存容器     ShareImages=Manager().dict()#存str类型数据     ShareImages[1]=1.0#     ShareImages[2]=1.0#     ShareImages[3]=1.0#         p = Process(target=mpuProcess, args=(ShareImages,lock))#开启进程     p.deamon=True  #伴随主进程关闭而关闭，但是有时候还是关闭不了，单独搞个标志位来控制     p.start()#开始           while True:         print("main----",ShareImages)         time.sleep(1)

　　

 

 

样例3 使用mpu测算速度