Hej folkens.
Første kode er med 1 servo, og forsøget går ikke lige helt så godt
Jeg bruger Emax ES08MA 2 servo'er til dette projekt.
Servo på Digital Pin 9 (Er klar over at det er en analog servo, hvilket forvirre mig en del)
Også køre ADXL345 på SDA og SCL (med wire.h lib)
Koden er indtil videre bygget sammen sådan her:
#include <Wire.h> // I2C library, gyroscope
#include <Servo.h>
Servo myservo; // create servo object to control a servo
// twelve servo objects can be created on most boards
int pos = 0; // variable to store the servo position
// Accelerometer ADXL345
#define ACC (0xA7>>1) //ADXL345 ACC address
#define A_TO_READ (6) //num of bytes we are going to read each time (two bytes for each axis)
void initAcc() {
//Turning on the ADXL345
writeTo(ACC, 0x2D, 1 << 3);
writeTo(ACC, 0x31, 0x0B);
writeTo(ACC, 0x2C, 0x09);
//by default the device is in +-2g range reading
}
void getAccelerometerData(int * result) {
int regAddress = 0x32; //first axis-acceleration-data register on the ADXL345
byte buff[A_TO_READ];
readFrom(ACC, regAddress, A_TO_READ, buff); //read the acceleration data from the ADXL345
//each axis reading comes in 10 bit resolution, ie 2 bytes. Least Significat Byte first!!
//thus we are converting both bytes in to one int
result[0] = (((int)buff[1]) << 8) | buff[0];
result[1] = (((int)buff[3]) << 8) | buff[2];
result[2] = (((int)buff[5]) << 8) | buff[4];
}
void setup()
{
Serial.begin(9600);
Wire.begin();
initAcc();
myservo.attach(9); // attaches the servo on pin 9 to the servo object
}
void loop()
{
int hx, hy, hz;
int acc[3];
getAccelerometerData(acc);
hx = acc[0];
hy = acc[1];
hz = acc[2];
Serial.print(" X=");
Serial.print(hx);
Serial.print(" Y=");
Serial.print(hy);
Serial.print(" Z=");
Serial.println(hz);
pos = hz / 180;
myservo.write(pos); // tell servo to go to position in variable 'pos'
delay(1000);
}
//---------------- Functions
//Writes val to address register on ACC
void writeTo(int DEVICE, byte address, byte val) {
Wire.beginTransmission(DEVICE); //start transmission to ACC
Wire.write(address); // send register address
Wire.write(val); // send value to write
Wire.endTransmission(); //end transmission
}
//reads num bytes starting from address register on ACC in to buff array
void readFrom(int DEVICE, byte address, int num, byte buff[]) {
Wire.beginTransmission(DEVICE); //start transmission to ACC
Wire.write(address); //sends address to read from
Wire.endTransmission(); //end transmission
Wire.beginTransmission(DEVICE); //start transmission to ACC
Wire.requestFrom(DEVICE, num); // request 6 bytes from ACC
int i = 0;
while (Wire.available()) //ACC may send less than requested (abnormal)
{
buff[i] = Wire.read(); // receive a byte
i++;
}
Wire.endTransmission(); //end transmission
}
Det virker dog som om at der er fejl i koden, for servo'en opføre sig ret underligt.
Selve ADXL koden virker fint, dvs. hvis man trækker servo delen fra, så virker den som den skal.
Hjælp søges.