通过 Arduino 从 MPU6050 获取 IMU 数据进行姿态解算，并利用 Processing 进行三维姿态显示

Overview

• A Guide To using IMU (Accelerometer and Gyroscope Devices) in Embedded Applications

Arduino UNO & MPU6050 GY521

• Arduino教程：MPU6050的数据获取、分析与处理
• How to Interface Arduino and the MPU 6050 Sensor
• Arduino and MPU6050 Accelerometer and Gyroscope Tutorial

Hardware components

Arduino Apps

1. Download jrowberg/i2cdevlib/Arduino, copy I2Cdev and MPU6050 to Arduino libraries
2. Open Arduino IDE, File->Examples->MPU6050->MPU6050_MPU6
3. #define OUTPUT_READABLE_YAWPITCHROLL -> //#define OUTPUT_READABLE_YAWPITCHROLL //#define OUTPUT_TEAPOT -> #define OUTPUT_TEAPOT
4. compile and upload

Processing Apps for 3D Simulation

1. install Processing IDE
2. install ToxicLib into the Processing's libraries folder (modes -> java -> libraries), unzip toxiclibs-complete-0020.zip in ToxicLibs and place aLL the contents there
3. running the teapot demo from the MPU6050_DMP6 example from Jeff Rowberg's MPU6050 libary