Uma ubheke ukuhlanganisa inzwa yenkululeko engu-9 degrees (9-DOF) kumaphrojekthi akho e-Arduino, usufike endaweni efanele. Lawa madivaysi awusizo kakhulu ekulinganiseni umumo, ukusheshisa kanye nokuzungezisa endaweni enezinhlangothi ezintathu. Kulesi sihloko, sizohlola kahle ukuthi isetshenziswa kanjani i-Adafruit 9-DOF, ukuxhumana kwayo nokucushwa nge-Arduino.
Izinzwa ze-9-DOF zihlanganisa izinhlobo ezintathu ezihlukene zezinzwa: ama-accelerometer, ama-magnetometers, nama-gyroscopes. Lokhu kubenza babe amathuluzi abalulekile okulandelela okunembayo kokuma nokunyakaza. Ngale miyalo, ungaqala ukusebenzisa inzwa yakho ye-Adafruit 9-DOF nge-Arduino ngokushesha nangempumelelo.
Iyini inzwa engu-9 degrees of freedom (9-DOF)?
Ayikho imikhiqizo etholakele.
Inzwa engu-9-DOF inezinzwa ezintathu kweyodwa: a ukushesha, a i-magnetometer futhi a gyroscope. I-accelerometer ikala ukusheshisa ngezimbazo ezintathu, ukuyivumela ukuthi ithole umumo ohlobene namandla adonsela phansi. I-magnetometer ithola insimu kazibuthe, ibe usizo ekutholeni isiqondiso senyakatho kazibuthe. Okokugcina, i-gyroscope ikala ukujikeleza kwe-angular.
Lezi zinzwa ezintathu zihlangana ukunikeza a umbono wokunyakaza onezinhlangothi ezintathu nokuma, okuyenza ilungele izinhlelo zokusebenza ezinjengamarobhothi, ama-drones noma amadivaysi agqokekayo.
Ixhuma inzwa engu-9-DOF ne-Arduino
Uma usunayo inzwa, isinyathelo esilandelayo ukuyixhuma ebhodini lakho le-Arduino. Uma uhlela ukusebenzisa i- I-interface ye-I2C, okuvame kakhulu, inzwa ye-Adafruit 9-DOF inekheli le-I2C elizenzakalelayo elingu-0x69. Nokho, ungakwazi futhi ukuyishintsha ibe ngu-0x68 ngokuxhuma iphinikhodi yekheli ku-GND.
Ukuxhumana nge-I2C
Inqubo yokuxhuma ilula. Ngokusetshenziswa kwesixhumi se-STEMMA QT noma a i-breadboard engenakuthengiswa, kufanele nje uqondanise amandla nezikhonkwane zedatha. Uma usebenzisa isixhumi se-STEMMA, udinga kuphela ukusixhuma kumaphini we-I2C (i-SCL ne-SDA).
Sebenzisa inzwa engu-9-DOF ene-SPI
Uma ukhetha ukusebenzisa isixhumi esibonakalayo se-SPI, uzodinga ukunika amandla amaphinikhodi e-CS, SCK, MOSI, kanye ne-MISO ukuze uxhumeke, futhi ucacise izilungiselelo kukhodi.
Faka imitapo yolwazi edingekayo ku-Arduino
Ukuze inzwa yakho ye-Adafruit isebenze kahle nge-Arduino, uzodinga ukufaka imitapo yolwazi eminingana. Into yokuqala oyidingayo yi- Ilabhulali ye-Adafruit ICM20X, ehambisana nezinzwa ze-ICM20948 kanye ne-ICM20649. Ukuze uyifake, vula i- Umphathi Wezincwadi ku-Arduino IDE bese usesha i-“Adafruit ICM20X”.
Ngaphezu kwalokhu, kuzodingeka futhi ufake i- I-Adafruit BusIO Library futhi i Ilabhulali Yenzwa Ehlanganisiwe ye-Adafruit.
Isibonelo sekhodi yenzwa ye-Adafruit 9-DOF
Uma usunakho konke okuxhunyiwe kanye nemitapo yolwazi edingekayo efakiwe, ungalayisha esinye sezibonelo ukuze uhlole ukuthi yonke into isebenza kahle. Iya ku Ifayela -> Izibonelo -> I-Adafruit ICM20X bese ukhetha ukuhlola okuhambisana nenzwa yakho.
Lesi sibonelo sizophrinta amanani njenge lokushisa, kanye namanani kuma-axes X, Y kanye no-Z i-gyroscope, i-accelerometer kanye ne-magnetometer. Ungahlola umphumela kusiqaphi se-serial esisethwe ku-115200 baud.
Isibonelo esiyisisekelo sezilinganiso nge-ICM20948
#include <Adafruit_ICM20X.h>#include <Adafruit_ICM20948.h>#include <Adafruit_Sensor.h>#include <Wire.h>Ikhodi enikezwe ezibonelweni zelabhulali izokuvumela ukuthi uthole izehlakalo kuzinzwa ezahlukahlukene. Kodwa-ke, kumaphrojekthi athuthuke kakhulu, ungashintsha izilungiselelo zebanga lokuzwela kokubili i-accelerometer ne-gyroscope ngokwezidingo zakho.
Isebenza kanjani imibiko yokuzungezisa kunzwa ye-BNO085
Uma ngaphezu kwezinzwa ze-ICM20948 usebenzisa inzwa engu-9-DOF efana ne I-BNO085, lokhu kukuvumela ukuthi ukhiqize imibiko yokuphenduka, okubalulekile ekutholeni idatha enemininingwane eyengeziwe mayelana nokuma kokunyakaza okuyinkimbinkimbi.
Imininingwane ebalulekile okufanele uyikhumbule ukuthi le nzwa idinga i-microcontroller ngayo umthamo omkhulu wenkumbulo, njenge-SAMD21, SAMD51 noma i-nRF52. Ukusetshenziswa kwamabhodi e-Arduino ayisisekelo njenge-Uno noma uLeonardo akunconywa, ngoba akanayo i-RAM eyanele.
Ukwengeza, i-BNO085 isebenzisa ukuqaliswa okukhethekile kwe-I2C okungasekelwe yiwo wonke amasistimu. Isibonelo, le nzwa ayisebenzi kahle ngama-chips afana nalokhu ESP32 noma nge-I2C multiplexers. Nokho, ukusebenza kwayo kunokwethenjelwa impela ezisekelweni ezifana I-RP2040, STM32F4 noma i-SAMD51.
Idizayini nezici zokuphuma kwe-LSM9DS1
Inzwa ye-LSM9DS9 1-DOF ilungele ukulandelela umumo nokunyakaza ngentengo ethengekayo uma kuqhathaniswa nezinye izinzwa ezifanayo. Ihlanganisa izilinganiso zokulinganisa ezimbalwa ezikuvumela ukuthi ulungise izinga lokunemba elidingekayo kuphrojekthi yakho.
Le nzwa ine-a I-interface ye-I2C y SPI, okwenza kube nezinto ezihlukahlukene ezisekelweni zokuthuthukiswa ezahlukene. Ungakwazi ukuyixhuma kalula ku-Arduino, unikeze amandla kagesi phakathi kuka-3 no-5V futhi uxhume izikhonkwane ze-I2C SCL y I-SDA.
Izinguquko ku-LSM9DS0
Omunye umehluko omkhulu ulele ku- i-accelerometer ranges, okuku-LSM9DS1 okungu-±2, ±4, ±8 kanye no-±16 g, kuyilapho ezinye izinzwa ezifana ne-LSM9DS0 zifaka uhla olwengeziwe lwe-±6g.
Yini ongayenza ngenzwa ye-Adafruit 9-DOF?
Lolu hlobo lwezinzwa lulungele ukuthuthukisa amaphrojekthi afana amarobhothi azimele, amasistimu okuzulazula namadivayisi asekelwe ekuthinteni. Ngolwazi lokusheshisa, ukuzungezisa, nolwazi olunikezayo, ungakha idivayisi elandelela ukunyakaza okuyinkimbinkimbi ngokunembile.