通過I2C連接四個MPU-6050與Arduino到期

Question

我有四個MPU-6050（http://playground.arduino.cc/Main/MPU-6050）IMU通過兩條I2C總線連接到我的Arduino Due。

我只想讀取加速計數據，但我的代碼只是讀取原始數據似乎沒有工作。有沒有人有任何想法可能是錯的？

以下是我與我的四個MPU-6050到Arduino的圖片：http://i.imgur.com/UaWP2LP.jpg

這裏是我的代碼：

// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation 
// is used in I2Cdev.h 
#include "Wire.h" 

// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files 
// for both classes must be in the include path of your project 
#include "I2Cdev.h" 
#include "MPU6050.h" 

// class default I2C address is 0x68 
// specific I2C addresses may be passed as a parameter here 
// AD0 low = 0x68 (default for InvenSense evaluation board) 
// AD0 high = 0x69 
MPU6050 accel_i2c_68(MPU6050_ADDRESS_AD0_LOW); 
MPU6050 accel_i2c_69(MPU6050_ADDRESS_AD0_HIGH); 
MPU6050 accel_i2c1_68(MPU6050_ADDRESS_AD0_LOW); 
MPU6050 accel_i2c1_69(MPU6050_ADDRESS_AD0_HIGH); 

// Declare 12 acceleration vars, 3 for each of the four IMU's 
int16_t ax68, ay68, az68, ax69, ay69, az69, ax68_1, ay68_1, az68_1, ax69_1, ay69_1, az69_1; 

#define LED_PIN 13 
bool blinkState = false; 

void setup() { 
    // join both I2C bus on Arduino Due 
    Wire.begin(); 
    Wire1.begin(); 

    // initialize serial communication 
    Serial.begin(9600); 

    // initialize four IMU devices 
    Serial.println("Initializing I2C devices..."); 
    accel_i2c_68.initialize(); 
    accel_i2c_68.setFullScaleAccelRange(MPU6050_ACCEL_FS_16); 

    accel_i2c_69.initialize(); 
    accel_i2c_69.setFullScaleAccelRange(MPU6050_ACCEL_FS_16); 

    accel_i2c1_68.initialize(); 
    accel_i2c1_68.setFullScaleAccelRange(MPU6050_ACCEL_FS_16); 

    accel_i2c1_69.initialize(); 
    accel_i2c1_69.setFullScaleAccelRange(MPU6050_ACCEL_FS_16); 

    // verify connection of all four IMU's 
    Serial.println("Testing device connections..."); 
    Serial.println(accel_i2c_68.testConnection() ? "MPU6050 68 connection successful" : "MPU6050 68 connection failed"); 
    Serial.println(accel_i2c_69.testConnection() ? "MPU6050 69 connection successful" : "MPU6050 69 connection failed"); 
    Serial.println(accel_i2c1_68.testConnection() ? "MPU6050 1 68 connection successful" : "MPU6050 1 68 connection failed"); 
    Serial.println(accel_i2c1_69.testConnection() ? "MPU6050 1 69 connection successful" : "MPU6050 1 69 connection failed"); 

    // configure Arduino LED for 
    pinMode(LED_PIN, OUTPUT); 
} 

void loop() { 

    // read only acceleration raw data from all four IMU's 
    accel_i2c_68.getAcceleration(&ax68, &ay68, &az68); 
    accel_i2c_69.getAcceleration(&ax69, &ay69, &az69); 
    accel_i2c1_68.getAcceleration(&ax68_1, &ay68_1, &az68_1); 
    accel_i2c1_69.getAcceleration(&ax69_1, &ay69_1, &az69_1); 

    // display tab-separated accel x/y/z values, divide by 2048.0 to get g-force values 
    Serial.print("a:\t"); 
    Serial.print(ax68/2048.0); Serial.print("\t"); 
    Serial.print(ay68/2048.0); Serial.print("\t"); 
    Serial.print(az68/2048.0); Serial.print("\t"); 
    Serial.print(ax69/2048.0); Serial.print("\t"); 
    Serial.print(ay69/2048.0); Serial.print("\t"); 
    Serial.print(az69/2048.0); Serial.print("\t"); 
    Serial.print(ax68_1/2048.0); Serial.print("\t"); 
    Serial.print(ay68_1/2048.0); Serial.print("\t"); 
    Serial.print(az68_1/2048.0); Serial.print("\t"); 
    Serial.print(ax69_1/2048.0); Serial.print("\t"); 
    Serial.print(ay69_1/2048.0); Serial.print("\t"); 
    Serial.println(az69_1/2048.0); 

    // blink LED to indicate activity 
    blinkState = !blinkState; 
    digitalWrite(LED_PIN, blinkState); 
} 

Answer 1

這是很老的和可能不再適用，反正我來了在這裏尋找其他的東西，但是看看你的代碼，我發現你沒有告訴他們應該使用i2c總線的MPU6050 accel_i2c ...對象。如果它實際上支持多個i2c總線，請查找您的庫文檔。