“SKU:RB-02S112 電子羅盤”的版本間的差異

來自ALSROBOT WiKi
跳轉(zhuǎn)至： 導(dǎo)航、 搜索
（→?產(chǎn)品相關(guān)推薦）
（→?產(chǎn)品相關(guān)推薦）
 
（未顯示1個用戶的2個中間版本）
第32行： 第32行：
 
4、測試程序<br/>
 
4、測試程序<br/>
 
<pre style='color:blue'>#include <Wire.h>
 
<pre style='color:blue'>#include <Wire.h>
?
#include <HMC5883L.h>
+
/*
 +
Analog input 4 I2C SDA
 +
Analog input 5 I2C SCL
 +
*/
  
?
HMC5883L compass;
+
#include <Wire.h> //I2C Arduino Library
  
?
void setup()
+
#define address 0x1E //0011110b, I2C 7bit address of HMC5883
?
{
+
 
 +
void setup(){
 +
  //Initialize Serial and I2C communications
 
   Serial.begin(9600);
 
   Serial.begin(9600);
?
 
+
   Wire.begin();
?
   // Initialize HMC5883L
+
?
  Serial.println("Initialize HMC5883L");
+
?
  while (!compass.begin())
+
?
  {
+
?
    Serial.println("Could not find a valid HMC5883L sensor, check wiring!");
+
?
    delay(500);
+
?
  }
+
 
    
 
    
?
   // Set measurement range
+
   //Put the HMC5883 IC into the correct operating mode
?
   // +/- 0.88 Ga: HMC5883L_RANGE_0_88GA
+
   Wire.beginTransmission(address); //open communication with HMC5883
?
  // +/- 1.30 Ga: HMC5883L_RANGE_1_3GA (default)
+
   Wire.write(0x02); //select mode register
?
  // +/- 1.90 Ga: HMC5883L_RANGE_1_9GA
+
   Wire.write(0x00); //continuous measurement mode
?
   // +/- 2.50 Ga: HMC5883L_RANGE_2_5GA
+
   Wire.endTransmission();
?
  // +/- 4.00 Ga: HMC5883L_RANGE_4GA
+
?
  // +/- 4.70 Ga: HMC5883L_RANGE_4_7GA
+
?
  // +/- 5.60 Ga: HMC5883L_RANGE_5_6GA
+
?
  // +/- 8.10 Ga: HMC5883L_RANGE_8_1GA
+
?
  compass.setRange(HMC5883L_RANGE_1_3GA);
+
?
 
+
?
  // Set measurement mode
+
?
   // Idle mode:              HMC5883L_IDLE
+
?
  // Single-Measurement:    HMC5883L_SINGLE
+
?
  // Continuous-Measurement: HMC5883L_CONTINOUS (default)
+
?
  compass.setMeasurementMode(HMC5883L_CONTINOUS);
+
?
+
?
  // Set data rate
+
?
   //  0.75Hz: HMC5883L_DATARATE_0_75HZ
+
?
  //  1.50Hz: HMC5883L_DATARATE_1_5HZ
+
?
  //  3.00Hz: HMC5883L_DATARATE_3HZ
+
?
  //  7.50Hz: HMC5883L_DATARATE_7_50HZ
+
?
  // 15.00Hz: HMC5883L_DATARATE_15HZ (default)
+
?
  // 30.00Hz: HMC5883L_DATARATE_30HZ
+
?
  // 75.00Hz: HMC5883L_DATARATE_75HZ
+
?
  compass.setDataRate(HMC5883L_DATARATE_15HZ);
+
?
 
+
?
  // Set number of samples averaged
+
?
  // 1 sample:  HMC5883L_SAMPLES_1 (default)
+
?
  // 2 samples: HMC5883L_SAMPLES_2
+
?
  // 4 samples: HMC5883L_SAMPLES_4
+
?
  // 8 samples: HMC5883L_SAMPLES_8
+
?
  compass.setSamples(HMC5883L_SAMPLES_1);
+
?
 
+
?
  // Check settings
+
?
  checkSettings();
+
 
}
 
}
  
?
void checkSettings()
+
void loop(){
?
{
+
?
  Serial.print("Selected range: ");
+
 
    
 
    
?
   switch (compass.getRange())
+
   int x,y,z; //triple axis data
?
  {
+
?
    case HMC5883L_RANGE_0_88GA: Serial.println("0.88 Ga"); break;
+
?
    case HMC5883L_RANGE_1_3GA:  Serial.println("1.3 Ga"); break;
+
?
    case HMC5883L_RANGE_1_9GA:  Serial.println("1.9 Ga"); break;
+
?
    case HMC5883L_RANGE_2_5GA:  Serial.println("2.5 Ga"); break;
+
?
    case HMC5883L_RANGE_4GA:    Serial.println("4 Ga"); break;
+
?
    case HMC5883L_RANGE_4_7GA:  Serial.println("4.7 Ga"); break;
+
?
    case HMC5883L_RANGE_5_6GA:  Serial.println("5.6 Ga"); break;
+
?
    case HMC5883L_RANGE_8_1GA:  Serial.println("8.1 Ga"); break;
+
?
    default: Serial.println("Bad range!");
+
?
  }
+
?
 
+
?
  Serial.print("Selected Measurement Mode: ");
+
?
  switch (compass.getMeasurementMode())
+
?
  { 
+
?
    case HMC5883L_IDLE: Serial.println("Idle mode"); break;
+
?
    case HMC5883L_SINGLE:  Serial.println("Single-Measurement"); break;
+
?
    case HMC5883L_CONTINOUS:  Serial.println("Continuous-Measurement"); break;
+
?
    default: Serial.println("Bad mode!");
+
?
  }
+
  
?
   Serial.print("Selected Data Rate: ");
+
   //Tell the HMC5883 where to begin reading data
?
   switch (compass.getDataRate())
+
   Wire.beginTransmission(address);
?
   { 
+
   Wire.write(0x03); //select register 3, X MSB register
?
    case HMC5883L_DATARATE_0_75_HZ: Serial.println("0.75 Hz"); break;
+
  Wire.endTransmission();
?
    case HMC5883L_DATARATE_1_5HZ:  Serial.println("1.5 Hz"); break;
+
?
    case HMC5883L_DATARATE_3HZ:  Serial.println("3 Hz"); break;
+
?
    case HMC5883L_DATARATE_7_5HZ: Serial.println("7.5 Hz"); break;
+
?
    case HMC5883L_DATARATE_15HZ:  Serial.println("15 Hz"); break;
+
?
    case HMC5883L_DATARATE_30HZ: Serial.println("30 Hz"); break;
+
?
    case HMC5883L_DATARATE_75HZ:  Serial.println("75 Hz"); break;
+
?
    default: Serial.println("Bad data rate!");
+
?
  }
+
 
    
 
    
?
  Serial.print("Selected number of samples: ");
 
?
  switch (compass.getSamples())
 
?
  { 
 
?
    case HMC5883L_SAMPLES_1: Serial.println("1"); break;
 
?
    case HMC5883L_SAMPLES_2: Serial.println("2"); break;
 
?
    case HMC5883L_SAMPLES_4: Serial.println("4"); break;
 
?
    case HMC5883L_SAMPLES_8: Serial.println("8"); break;
 
?
    default: Serial.println("Bad number of samples!");
 
?
  }
 
?
 
?
}
 
?
 
?
void loop()
 
?
{
 
?
  Vector raw = compass.readRaw();
 
?
  Vector norm = compass.readNormalize();
 
?
 
?
  Serial.print(" Xraw = ");
 
?
  Serial.print(raw.XAxis);
 
?
  Serial.print(" Yraw = ");
 
?
  Serial.print(raw.YAxis);
 
?
  Serial.print(" Zraw = ");
 
?
  Serial.print(raw.ZAxis);
 
?
  Serial.print(" Xnorm = ");
 
?
  Serial.print(norm.XAxis);
 
?
  Serial.print(" Ynorm = ");
 
?
  Serial.print(norm.YAxis);
 
?
  Serial.print(" ZNorm = ");
 
?
  Serial.print(norm.ZAxis);
 
?
  Serial.println(); 
 
?
 
?
  delay(100);
 
?
} </pre>
 
?
 
?
5、程序效果<br/>
 
?
在串口監(jiān)控窗口中分別打印X、Y、Z軸輸出值,如圖所示：
 
?
[[文件:02S11202.png|600px|縮略圖|居中]]
 
?
 
?
==Processing指南針==
 
?
1、測試環(huán)境<br/>
 
?
* 硬件環(huán)境：Arduino 、電子羅盤
 
?
* 軟件環(huán)境：Arduino IDE 1.7.7、Processing 3.0.2軟件
 
?
 
?
2、硬件連接<br/>
 
?
[[文件:02S11201.png|450px|縮略圖|居中]]
 
?
 
?
3、例子程序<br/>
 
?
* Processing 例程代碼
 
?
<pre style='color:blue'>/*
 
?
    HMC5883L Triple Axis Digital Compass.
 
?
    Processing for HMC5883L_processing.ino
 
?
    Processing for HMC5883L_processing_MPU6050.ino
 
?
    Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-magnetometr-hmc5883l.html
 
?
    GIT: https://github.com/jarzebski/Arduino-HMC5883L
 
?
    Web: http://www.jarzebski.pl
 
?
    (c) 2014 by Korneliusz Jarzebski
 
?
*/
 
?
 
?
import processing.serial.*;
 
?
 
?
Serial myPort;
 
?
 
?
// Data samples
 
?
int actualSample = 0;
 
?
int maxSamples = 400;
 
?
int sampleStep = 1;
 
?
boolean hasData = false;
 
?
 
?
// Charts
 
?
PGraphics pgChart;
 
?
int[] colors = { #ff4444, #33ff99, #5588ff };
 
?
String[] magneticSeries = { "XAxis", "YAxis", "ZAxis" };
 
?
String[] headingSeries = { "Normal", "Fixed", "Smooth" };
 
?
 
?
// Data for compare
 
?
float[][] magneticValues = new float[3][maxSamples];
 
?
float[][] headingValues = new float[3][maxSamples];
 
?
 
?
// Artificial Horizon
 
?
PGraphics pgCompassPlate;
 
?
PImage imgCompass;
 
?
PImage imgCompassRing;
 
?
PImage imgCompassPlateWhite;
 
?
PImage imgCompassPlateBlack;
 
?
int compassWidth;
 
?
int compassHeight;
 
?
 
?
void setup ()
 
?
{
 
?
  size(755, 550, P2D);
 
?
  background(0);
 
?
 
?
  // Init
 
?
  initCompass();
 
?
 
?
  // Serial
 
?
  myPort = new Serial(this, Serial.list()[0], 9600);
 
?
  myPort.bufferUntil(10);
 
?
}
 
?
 
?
void drawChart(String title, String[] series, float[][] chart, int x, int y, int h, boolean symmetric, boolean fixed, int fixedMin, int fixedMax, int hlines)
 
?
{
 
?
  int actualColor = 0;
 
?
 
 
?
  int maxA = 0;
 
?
  int maxB = 0;
 
?
  int maxAB = 0;
 
?
 
 
?
  int min = 0;
 
?
  int max = 0;
 
?
  int step = 0;
 
?
  int divide = 0;
 
 
   
 
   
?
   if (fixed)
+
//Read data from each axis, 2 registers per axis
?
  {
+
   Wire.requestFrom(address, 6);
?
    min = fixedMin;
+
   if(6<=Wire.available()){
?
    max = fixedMax;
+
     x = Wire.read()<<8; //X msb
?
    step = hlines;
+
    x |= Wire.read(); //X lsb
?
   } else
+
    z = Wire.read()<<8; //Z msb
?
  {
+
     z |= Wire.read(); //Z lsb
?
    if (hlines > 2)
+
    y = Wire.read()<<8; //Y msb
?
    {
+
    y |= Wire.read(); //Y lsb
?
      divide = (hlines - 2);
+
?
    } else
+
?
    {
+
?
      divide = 1;
+
?
     }
+
?
     
+
?
    if (symmetric)
+
?
    {
+
?
      maxA = (int)abs(getMin(chart));
+
?
      maxB = (int)abs(getMax(chart));
+
?
      maxAB = max(maxA, maxB);
+
?
      step = (maxAB * 2) / divide;
+
?
      min = -maxAB-step;
+
?
      max = maxAB+step;
+
?
     } else
+
?
    {
+
?
      min = (int)(getMin(chart));
+
?
      max = (int)(getMax(chart));
+
?
     
+
?
      if ((max >= 0) && (min <= 0)) step = (abs(min) + abs(max)) / divide;
+
?
      if ((max < 0) && (min < 0)) step = abs(min - max) / divide;  
+
?
      if ((max > 0) && (min > 0)) step = (max - min) / divide;
+
?
     
+
?
      if (divide > 1)
+
?
      {
+
?
        min -= step;
+
?
        max += step;
+
?
      }
+
?
    }
+
 
   }
 
   }
?
 
?
  pgChart = createGraphics((maxSamples*sampleStep)+50, h+60);
 
?
 
?
  pgChart.beginDraw();
 
?
 
?
  // Draw chart area and title
 
?
  pgChart.background(0);
 
?
  pgChart.strokeWeight(1);
 
?
  pgChart.noFill();
 
?
  pgChart.stroke(50);
 
?
  pgChart.rect(0, 0, (maxSamples*sampleStep)+49, h+59);
 
?
  pgChart.text(title, ((maxSamples*sampleStep)/2)-(textWidth(title)/2)+40, 20);
 
?
 
?
  // Draw chart description
 
?
  String Description[] = new String[chart.length];
 
?
  int DescriptionWidth[] = new int[chart.length];
 
?
  int DesctiptionTotalWidth = 0;
 
?
  int DescriptionOffset = 0;
 
?
 
?
  for (int j = 0; j < chart.length; j++)
 
?
  {
 
?
    Description[j] = "  "+series[j]+" = ";
 
?
    DescriptionWidth[j] += textWidth(Description[j]+"+0000.00");
 
?
    Description[j] += nf(chart[j][actualSample-1], 0, 2)+"  ";
 
?
    DesctiptionTotalWidth += DescriptionWidth[j];
 
?
  }
 
?
 
?
  actualColor = 0;
 
?
 
?
  for (int j = 0; j < chart.length; j++)
 
?
  {
 
?
    pgChart.fill(colors[actualColor]);
 
?
    pgChart.text(Description[j], ((maxSamples*sampleStep)/2)-(DesctiptionTotalWidth/2)+DescriptionOffset+40, h+50);
 
?
    DescriptionOffset += DescriptionWidth[j];
 
?
    actualColor++;
 
?
    if (actualColor >= colors.length) actualColor = 0;
 
?
  }
 
?
 
?
  // Draw H-Lines
 
?
  pgChart.stroke(100);
 
?
 
?
  for (float t = min; t <= max; t=t+step)
 
?
  {
 
?
    float line = map(t, min, max, 0, h);
 
?
    pgChart.line(40, h-line+30, (maxSamples*sampleStep)+40, h-line+30);
 
?
    pgChart.fill(200, 200, 200);
 
?
    pgChart.textSize(12);
 
?
    pgChart.text(int(t), 5, h-line+34);
 
?
  }
 
?
 
?
  // Draw data series
 
?
  pgChart.strokeWeight(2);
 
?
 
?
  for (int i = 1; i < actualSample; i++)
 
?
  {
 
?
    actualColor = 0;
 
?
 
?
    for (int j = 0; j < chart.length; j++)
 
?
    {
 
?
      pgChart.stroke(colors[actualColor]);
 
?
 
?
      float d0 = chart[j][i-1];
 
?
      float d1 = chart[j][i];
 
?
 
?
      if (d0 < min) d0 = min;
 
?
      if (d0 > max) d0 = max;
 
?
      if (d1 < min) d1 = min;
 
?
      if (d1 > max) d1 = max;
 
?
 
?
      float v0 = map(d0, min, max, 0, h);
 
?
      float v1 = map(d1,  min, max, 0, h);
 
?
 
?
      pgChart.line(((i-1)*sampleStep)+40, h-v0+30, (i*sampleStep)+40, h-v1+30);
 
?
 
?
      actualColor++;
 
?
 
?
      if (actualColor >= colors.length) actualColor = 0;
 
?
    }
 
?
  }
 
?
 
?
  pgChart.endDraw();
 
?
 
?
  image(pgChart, x, y);
 
?
}
 
?
 
?
void initCompass()
 
?
{
 
?
  imgCompass = loadImage("compass.png");
 
?
  imgCompassRing = loadImage("compassRing.png");
 
?
  imgCompassPlateWhite = loadImage("compassPlateWhite.png");
 
?
  imgCompassPlateBlack = loadImage("compassPlateBlack.png");
 
?
  compassWidth = imgCompass.width;
 
?
  compassHeight = imgCompass.height;
 
?
}
 
?
 
?
void drawCompass(int x, int y, float[][] head, PImage plate)
 
?
{
 
?
  pgCompassPlate = createGraphics(compassWidth, compassWidth);
 
?
 
?
  float heading = head[2][actualSample-1];
 
?
  float north = 180 + heading;
 
 
    
 
    
?
   pgCompassPlate.beginDraw();
+
   //Print out values of each axis
?
   pgCompassPlate.clear();
+
   Serial.print("x: ");
?
  pgCompassPlate.translate(100,100);
+
   Serial.print(x);
?
  pgCompassPlate.rotate(-radians(heading));
+
   Serial.print(" y: ");
?
  pgCompassPlate.image(plate, -100, -100);
+
   Serial.print(y);
?
  pgCompassPlate.endDraw();
+
   Serial.print("  z: ");
?
 
+
   Serial.println(z);
?
  image(pgCompassPlate, x+30, y+30);
+
?
  image(imgCompass, x, y);
+
?
  image(imgCompassRing, x, y);
+
?
 
+
?
  textAlign(CENTER);
+
?
  text((int)heading+" deg", x+130, y+265);
+
?
  textAlign(LEFT);
+
?
}
+
?
 
+
?
void draw()
+
?
{
+
?
  if (!hasData) return;
+
?
 
+
?
  background(0);
+
?
 
+
?
  drawChart("Magnetic field [mG]", magneticSeries, magneticValues, 10, 10, 200, false, false, 0, 0, 10);
+
?
   drawChart("Heading [deg]", headingSeries, headingValues, 10, 280, 200, true, true, 0, 360, 30);
+
?
  drawCompass(480, 5, headingValues, imgCompassPlateWhite);
+
?
  drawCompass(480, 275, headingValues, imgCompassPlateBlack);
+
?
 
+
?
}
+
?
 
+
?
float getMin(float[][] chart)
+
?
{
+
?
  float minValue = 0;
+
?
  float[] testValues = new float[chart.length];
+
?
  float testMin = 0;
+
?
 
+
?
  for (int i = 0; i < actualSample; i++)
+
?
  {
+
?
    for (int j = 0; j < testValues.length; j++)
+
?
    {
+
?
      testValues[j] = chart[j][i];
+
?
    }
+
?
   
+
?
    testMin = min(testValues);
+
?
   
+
?
    if (i == 0)
+
?
    {
+
?
      minValue = testMin;
+
?
    } else
+
?
    {
+
?
      if (minValue > testMin) minValue = testMin;
+
?
    }
+
?
   }
+
?
+
?
  return ceil(minValue)-1;
+
?
}
+
?
 
+
?
float getMax(float[][] chart)
+
?
{
+
?
  float maxValue = 0;
+
?
  float[] testValues = new float[chart.length];
+
?
  float testMax = 0;
+
?
 
+
?
  for (int i = 0; i < actualSample; i++)
+
?
  {
+
?
    for (int j = 0; j < testValues.length; j++)
+
?
    {
+
?
      testValues[j] = chart[j][i];
+
?
    }
+
?
   
+
?
    testMax = max(testValues);
+
?
 
+
?
    if (i == 0)
+
?
    {
+
?
      maxValue = testMax;
+
?
    } else
+
?
    {
+
?
      if (maxValue < testMax) maxValue = testMax;
+
?
    }
+
?
  }
+
?
   
+
?
  return ceil(maxValue);
+
?
}
+
?
 
+
?
void nextSample(float[][] chart)
+
?
{
+
?
    for (int j = 0; j < chart.length; j++)
+
?
    {
+
?
      float last = chart[j][maxSamples-1];
+
?
 
+
?
      for (int i = 1; i < maxSamples; i++)
+
?
      {
+
?
        chart[j][i-1] = chart[j][i];
+
?
      }
+
?
 
+
?
      chart[j][(maxSamples-1)] = last;
+
?
    }
+
?
}
+
?
 
+
?
void serialEvent (Serial myPort)
+
?
{
+
?
  String inString = myPort.readStringUntil(10);
+
?
 
+
?
  if (inString != null)
+
?
  {
+
?
    inString = trim(inString);
+
?
    String[] list = split(inString, ':');
+
?
    String testString = trim(list[0]);
+
?
 
+
?
    if (list.length != 6) return;
+
?
 
+
?
    // Magnetic field
+
?
    magneticValues[0][actualSample] = (float(list[0]));
+
?
    magneticValues[1][actualSample] = (float(list[1]));
+
?
    magneticValues[2][actualSample] = (float(list[2]));
+
?
 
+
?
    // Headings
+
?
    headingValues[0][actualSample] = (float(list[3]));
+
?
    headingValues[1][actualSample] = (float(list[4]));
+
?
    headingValues[2][actualSample] = (float(list[5]));
+
?
 
+
?
    if (actualSample > 1)
+
?
    {
+
?
      hasData = true;
+
?
    }
+
?
 
+
?
    if (actualSample == (maxSamples-1))
+
?
    {
+
?
      nextSample(magneticValues);
+
?
      nextSample(headingValues);
+
?
  } else
+
?
    {
+
?
      actualSample++;
+
?
    }
+
?
   }
+
?
}</pre>
+
?
* Arduino 例程代碼
+
?
<pre style='color:blue'>/*
+
?
  HMC5883L Triple Axis Digital Compass. Output for HMC5883L_processing.pde
+
?
  Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-magnetometr-hmc5883l.html
+
?
  GIT: https://github.com/jarzebski/Arduino-HMC5883L
+
?
  Web: http://www.jarzebski.pl
+
?
  (c) 2014 by Korneliusz Jarzebski
+
?
*/
+
?
 
+
?
#include <Wire.h>
+
?
#include <HMC5883L.h>
+
?
 
+
?
HMC5883L compass;
+
?
 
+
?
int previousDegree;
+
?
 
+
?
void setup()
+
?
{
+
?
   Serial.begin(9600);
+
?
 
+
?
  // Initialize HMC5883L
+
?
  while (!compass.begin())
+
?
  {
+
?
    delay(500);
+
?
  }
+
?
 
+
?
  // Set measurement range
+
?
  compass.setRange(HMC5883L_RANGE_1_3GA);
+
?
 
+
?
  // Set measurement mode
+
?
  compass.setMeasurementMode(HMC5883L_CONTINOUS);
+
?
 
+
?
  // Set data rate
+
?
  compass.setDataRate(HMC5883L_DATARATE_30HZ);
+
?
 
+
?
  // Set number of samples averaged
+
?
  compass.setSamples(HMC5883L_SAMPLES_8);
+
?
 
+
?
  // Set calibration offset. See HMC5883L_calibration.ino
+
?
  compass.setOffset(0, 0);
+
?
}
+
?
 
+
?
void loop()
+
?
{
+
?
  long x = micros();
+
?
  Vector norm = compass.readNormalize();
+
?
 
+
?
  // Calculate heading
+
?
  float heading = atan2(norm.YAxis, norm.XAxis);
+
?
 
+
?
  // Set declination angle on your location and fix heading
+
?
  // You can find your declination on: http://magnetic-declination.com/
+
?
  // (+) Positive or (-) for negative
+
?
  // For Bytom / Poland declination angle is 4'26E (positive)
+
?
  // Formula: (deg + (min / 60.0)) / (180 / M_PI);
+
?
   float declinationAngle = (4.0 + (26.0 / 60.0)) / (180 / M_PI);
+
?
  heading += declinationAngle;
+
?
 
+
?
  // Correct for heading < 0deg and heading > 360deg
+
?
  if (heading < 0)
+
?
  {
+
?
    heading += 2 * PI;
+
?
  }
+
?
+
?
  if (heading > 2 * PI)
+
?
  {
+
?
    heading -= 2 * PI;
+
?
  }
+
?
 
+
?
  // Convert to degrees
+
?
  float headingDegrees = heading * 180/M_PI;
+
?
 
+
?
  // Fix HMC5883L issue with angles
+
?
  float fixedHeadingDegrees;
+
?
+
?
  if (headingDegrees >= 1 && headingDegrees < 240)
+
?
  {
+
?
    fixedHeadingDegrees = map(headingDegrees, 0, 239, 0, 179);
+
?
  } else
+
?
  if (headingDegrees >= 240)
+
?
  {
+
?
    fixedHeadingDegrees = map(headingDegrees, 240, 360, 180, 360);
+
?
  }
+
?
 
+
?
  // Smooth angles rotation for +/- 3deg
+
?
  int smoothHeadingDegrees = round(fixedHeadingDegrees);
+
?
 
+
?
  if (smoothHeadingDegrees < (previousDegree + 3) && smoothHeadingDegrees > (previousDegree - 3))
+
?
  {
+
?
    smoothHeadingDegrees = previousDegree;
+
?
  }
+
 
    
 
    
?
  previousDegree = smoothHeadingDegrees;
+
   delay(250);
?
 
+
?
  // Output
+
?
  Serial.print(norm.XAxis);
+
?
  Serial.print(":");
+
?
  Serial.print(norm.YAxis);
+
?
  Serial.print(":");
+
?
  Serial.print(norm.ZAxis);
+
?
  Serial.print(":");
+
?
  Serial.print(headingDegrees);
+
?
  Serial.print(":");
+
?
  Serial.print(fixedHeadingDegrees);
+
?
  Serial.print(":");
+
?
  Serial.print(smoothHeadingDegrees); 
+
?
  Serial.println();
+
?
 
+
?
  // One loop: ~5ms @ 115200 serial.
+
?
  // We need delay ~28ms for allow data rate 30Hz (~33ms)
+
?
   delay(30);
+
 
}
 
}
 
</pre>
 
</pre>
  
?
4、程序效果<br/>
+
5、程序效果<br/>
?
將 Arduino 例程代碼上傳到 Arduino 控制器中，然后在 Processing 編譯器中運行例程代碼，會看到如下效果
+
在串口監(jiān)控窗口中分別打印X、Y、Z軸輸出值,如圖所示：
?
[[文件:hm588301.jpg|750px|縮略圖|居中]]
+
[[文件:02S11202.png|600px|縮略圖|居中]]
  
 
==產(chǎn)品相關(guān)推薦==
 
==產(chǎn)品相關(guān)推薦==
 
[[文件:erweima.png|230px|無框|右]]
 
[[文件:erweima.png|230px|無框|右]]
?
===例子程序下載===
+
=== 產(chǎn)品資料 ===
?
* 庫文件及例子程序下載鏈接：http://pan.baidu.com/s/1pLQ9dsZ 密碼：gedq
+
下載鏈接：https://pan.baidu.com/s/1HsTWYCPT-zUK8L7_o7hpWQ
 +
提取碼：540f
 
===產(chǎn)品購買地址===
 
===產(chǎn)品購買地址===
 
* [http://lifestyle201.com/goods-772.html 電子羅盤傳感器 HMC5883L模塊]
 
* [http://lifestyle201.com/goods-772.html 電子羅盤傳感器 HMC5883L模塊]

2021年12月10日 (五) 10:13的最后版本

02S112001.png

目錄

產(chǎn)品概述

電子羅盤，又稱數(shù)字羅盤，在現(xiàn)代技術(shù)條件中電子羅盤作為導(dǎo)航儀器或姿態(tài)傳感器已被廣泛應(yīng)用。此款傳感器是三軸數(shù)字羅盤，采用I2C串行總線接口，芯片選用Honeywell HMC5883L，具有高精度，偏移抑制等特點。此傳感器具有12位ADC、低噪聲、自檢測、低電壓操作和寬磁場范圍等特點，并且內(nèi)置驅(qū)動電路，采用I2C數(shù)字接口，體積小，輕便，操作簡單。

產(chǎn)品參數(shù)

  1. 產(chǎn)品類型：數(shù)字傳感器
  2. 接口類型：KF2510
  3. 工作電壓：5V
  4. 工作溫度：-25℃～＋85℃
  5. 產(chǎn)品尺寸（mm）：30x25mm
  6. 固定孔尺寸（mm）：M3 * 4個
  7. 固定孔間距：23 * 18 mm
  8. 重量（g）：3g
  • 產(chǎn)品尺寸圖：
Size036.jpg

基本使用方法

1、測試環(huán)境

  • 硬件環(huán)境：Arduino 、電子羅盤
  • 軟件環(huán)境：Arduino IDE 1.7.7

2、引腳定義

  • SDA：I2C總線的數(shù)據(jù)線引腳
  • SCL：2C總線的時鐘信號引腳
  • -：電源負(fù)極
  • +：電源正極

3、硬件連接

02S11201.png

4、測試程序

#include <Wire.h>
/*
Analog input 4 I2C SDA
Analog input 5 I2C SCL
*/

#include <Wire.h> //I2C Arduino Library

#define address 0x1E //0011110b, I2C 7bit address of HMC5883

void setup(){
  //Initialize Serial and I2C communications
  Serial.begin(9600);
  Wire.begin();
  
  //Put the HMC5883 IC into the correct operating mode
  Wire.beginTransmission(address); //open communication with HMC5883
  Wire.write(0x02); //select mode register
  Wire.write(0x00); //continuous measurement mode
  Wire.endTransmission();
}

void loop(){
  
  int x,y,z; //triple axis data

  //Tell the HMC5883 where to begin reading data
  Wire.beginTransmission(address);
  Wire.write(0x03); //select register 3, X MSB register
  Wire.endTransmission();
  
 
 //Read data from each axis, 2 registers per axis
  Wire.requestFrom(address, 6);
  if(6<=Wire.available()){
    x = Wire.read()<<8; //X msb
    x |= Wire.read(); //X lsb
    z = Wire.read()<<8; //Z msb
    z |= Wire.read(); //Z lsb
    y = Wire.read()<<8; //Y msb
    y |= Wire.read(); //Y lsb
  }
  
  //Print out values of each axis
  Serial.print("x: ");
  Serial.print(x);
  Serial.print("  y: ");
  Serial.print(y);
  Serial.print("  z: ");
  Serial.println(z);
  
  delay(250);
}

5、程序效果
在串口監(jiān)控窗口中分別打印X、Y、Z軸輸出值,如圖所示：

02S11202.png

產(chǎn)品相關(guān)推薦

Erweima.png

產(chǎn)品資料

下載鏈接：https://pan.baidu.com/s/1HsTWYCPT-zUK8L7_o7hpWQ 提取碼：540f

產(chǎn)品購買地址

相關(guān)學(xué)習(xí)資料