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参考文章：
[1] 姿态角（Euler角）：yaw pitch roll[2] Arduino uno + mpu6050 陀螺仪 运用卡尔曼滤波姿态解算实验[3] MPU6050传感器数据处理[4] Micro:bit系列教程6：加速度传感器
一、GY-61 ADXL335三轴加速度
GY-61 ADXL335三轴加速度 MMA7260角度倾角传感器 
1.1 三轴加速度传感器的引脚
VCC X_OUT （Z朝上，X控制左右角度） Y_OUT（Z朝上，Y控制前后角度） Z_OUT（Z朝上，Z控制上下角度） GND
引脚定义：
const int X_OUT = A5; //X轴输出引脚定义
const int Y_OUT = A6; //Y轴输出引脚定义
const int Z_OUT = A7; //Z轴输出引脚定义
测试代码：
const int X_OUT = A5; //X轴输出引脚定义
const int Y_OUT = A6; //Y轴输出引脚定义
const int Z_OUT = A7; //Z轴输出引脚定义
float Xvalue = 0; //
float Yvalue = 0;
float Zvalue = 0;
void setup() {
Serial.begin(9600);
}
void loop() {
Xvalue = analogRead(X_OUT);
Yvalue = analogRead(Y_OUT);
Zvalue = analogRead(Z_OUT);
Serial.print("Xvalue = " );
Serial.print(Xvalue);
Serial.print(" Yvalue = " );
Serial.print(Yvalue);
Serial.print(" Zvalue = " );
Serial.println(Zvalue);
delay(20);
}
(20190514)
二、MPU6050陀螺仪
2.1姿态角（Euler角）
俯仰角θ（pitch）：
机体坐标系X轴与水平面的夹角。
当X轴的正半轴位于过坐标原点的水平面之上（抬头）时，俯仰角为正，否则为负。
pitch 是围绕 X 轴旋转，也叫做俯仰角，
如图所示：
偏航角ψ（yaw）：
机体坐标系xb轴在水平面上投影与地面坐标系xg轴（在水平面上，指向目标为正）之间的夹角，
由xg轴逆时针转至机体xb的投影线时，偏航角为正，即机头右偏航为正，
反之为负。
yaw 是围绕 Y 轴旋转，也叫偏航角，
如图所示。
翻滚角Φ（roll）：
机体坐标系zb轴与通过机体xb轴的铅垂面间的夹角，机体向右滚为正，
反之为负。
roll 是围绕 Z 轴旋转，也叫翻滚角，
如图所示：
 注 意：x y z轴，是可以任意规定，而偏航角、俯仰角、翻滚角是约定俗成的，相对客观
pitch是围绕X轴旋转，也叫做俯仰角，yaw是围绕Y轴旋转，也叫偏航角，roll是围绕Z轴旋转，也叫翻滚角，
2.2 关键块和功能组成
1、带有16位ADC和信号调理的三轴MEMS速率陀螺仪传感器2、具有16位ADC和信号调理的三轴MEMS加速度传感器3、数字运动处理器（DMP）引擎4、主I2C和SPI（仅MPU-6000）串行通信接口5、用于第三方磁力计和其他传感器的辅助I2C串行接口6、时钟7、传感器数据寄存器8、FIFO9、中断10、数字输出温度传感器11、陀螺仪和加速度计自检12、偏见和LDO13、充电泵 
2.3 MPU6050 引脚说明
VCC3.3-5V（内部有稳压芯片）GND地线SCLMPU6050作为从机时IIC时钟线SDAMPU6050作为从机时IIC数据线XCLMPU6050作为主机时IIC时钟线XDAMPU6050作为主机时IIC数据线AD0地址管脚，该管脚决定了IIC地址的最低一位INT中断引脚
2.4 测试程序
首先，参考 YouTube上的视频案例，
然后，结合Arudino IDE 官方库中的 MPU6050 示例 MPU6050_DMP6 做修改，添加舵机控制程序。
#include
// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class using DMP (MotionApps v2.0)
// 6/21/2012 by Jeff Rowberg
// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
//
// Changelog:
// 2013-05-08 - added seamless Fastwire support
// - added note about gyro calibration
// 2012-06-21 - added note about Arduino 1.0.1 + Leonardo compatibility error
// 2012-06-20 - improved FIFO overflow handling and simplified read process
// 2012-06-19 - completely rearranged DMP initialization code and simplification
// 2012-06-13 - pull gyro and accel data from FIFO packet instead of reading directly
// 2012-06-09 - fix broken FIFO read sequence and change interrupt detection to RISING
// 2012-06-05 - add gravity-compensated initial reference frame acceleration output
// - add 3D math helper file to DMP6 example sketch
// - add Euler output and Yaw/Pitch/Roll output formats
// 2012-06-04 - remove accel offset clearing for better results (thanks Sungon Lee)
// 2012-06-01 - fixed gyro sensitivity to be 2000 deg/sec instead of 250
// 2012-05-30 - basic DMP initialization working
/* ============================================
I2Cdev device library code is placed under the MIT license
Copyright (c) 2012 Jeff Rowberg
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
===============================================
*/
// 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_6Axis_MotionApps20.h"
//#include "MPU6050.h" // not necessary if using MotionApps include file
// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
// is used in I2Cdev.h
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
#include "Wire.h"
#endif
// class default I2C address is 0x68
// specific I2C addresses may be passed as a parameter here
// AD0 low = 0x68 (default for SparkFun breakout and InvenSense evaluation board)
// AD0 high = 0x69
MPU6050 mpu;
//MPU6050 mpu(0x69); //
mpuInterrupt = true;
}
// ================================================================
// === INITIAL SETUP ===
// ================================================================
int servoPin1 = 11 , servoPin2 = 5 , servoPin3 = 3 ;
Servo servo1, servo2, servo3;
void setup() {
servo1.attach (servoPin1);
servo2.attach (servoPin2);
servo3.attach (servoPin3);
servo1.write ( 0 ); // Init the servo1 angle to 0
servo2.write ( 0 ); // Init the servo2 angle to 0
servo3.write ( 0 ); // Init the servo2 angle to 0
// join I2C bus (I2Cdev library doesn't do this automatically)
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
Wire.begin();
Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
Fastwire::setup(400, true);
#endif
// initialize serial communication
// (115200 chosen because it is required for Teapot Demo output, but it's
// really up to you depending on your project)
Serial.begin(115200);
while (!Serial); // wait for Leonardo enumeration, others continue immediately
// NOTE: 8MHz or slower host processors, like the Teensy @ 3.3V or Arduino
// Pro Mini running at 3.3V, cannot handle this baud rate reliably due to
// the baud timing being too misaligned with processor ticks. You must use
// 38400 or slower in these cases, or use some kind of external separate
// crystal solution for the UART timer.
// initialize device
Serial.println(F("Initializing I2C devices..."));
mpu.initialize();
pinMode(INTERRUPT_PIN, INPUT);
// verify connection
Serial.println(F("Testing device connections..."));
Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
// wait for ready
Serial.println(F("\nSend any character to begin DMP programming and demo: "));
while (Serial.available() && Serial.read()); // empty buffer
while (!Serial.available()); // wait for data
while (Serial.available() && Serial.read()); // empty buffer again
// load and configure the DMP
Serial.println(F("Initializing DMP..."));
devStatus = mpu.dmpInitialize();
// supply your own gyro offsets here, scaled for min sensitivity
mpu.setXGyroOffset(220);
mpu.setYGyroOffset(76);
mpu.setZGyroOffset(-85);
mpu.setZAccelOffset(1788); // 1688 factory default for my test chip
// make sure it worked (returns 0 if so)
if (devStatus == 0) {
// turn on the DMP, now that it's ready
Serial.println(F("Enabling DMP..."));
mpu.setDMPEnabled(true);
// enable Arduino interrupt detection
Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);
mpuIntStatus = mpu.getIntStatus();
// set our DMP Ready flag so the main loop() function knows it's okay to use it
Serial.println(F("DMP ready! Waiting for first interrupt..."));
dmpReady = true;
// get expected DMP packet size for later comparison
packetSize = mpu.dmpGetFIFOPacketSize();
} else {
// ERROR!
// 1 = initial memory load failed
// 2 = DMP configuration updates failed
// (if it's going to break, usually the code will be 1)
Serial.print(F("DMP Initialization failed (code "));
Serial.print(devStatus);
Serial.println(F(")"));
}
// configure LED for output
pinMode(LED_PIN, OUTPUT);
}
// ================================================================
// === MAIN PROGRAM LOOP ===
// ================================================================
void loop() {
// if programming failed, don't try to do anything
if (!dmpReady) return;
// wait for MPU interrupt or extra packet(s) available
while (!mpuInterrupt && fifoCount
// reset so we can continue cleanly
mpu.resetFIFO();
Serial.println(F("FIFO overflow!"));
// otherwise, check for DMP data ready interrupt (this should happen frequently)
} else if (mpuIntStatus & 0x02) {
// wait for correct available data length, should be a VERY short wait
while (fifoCount 1 packet available
// (this lets us immediately read more without waiting for an interrupt)
fifoCount -= packetSize;
#ifdef OUTPUT_READABLE_QUATERNION
// display quaternion values in easy matrix form: w x y z
mpu.dmpGetQuaternion(&q, fifoBuffer);
Serial.print("quat\t");
Serial.print(q.w);
Serial.print("\t");
Serial.print(q.x);
Serial.print("\t");
Serial.print(q.y);
Serial.print("\t");
Serial.println(q.z);
#endif
#ifdef OUTPUT_READABLE_EULER
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetEuler(euler, &q);
Serial.print("euler\t");
Serial.print(euler[0] * 180/M_PI);
Serial.print("\t");
Serial.print(euler[1] * 180/M_PI);
Serial.print("\t");
Serial.println(euler[2] * 180/M_PI);
#endif
#ifdef OUTPUT_READABLE_YAWPITCHROLL
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
Serial.print("ypr\t");
Serial.print(ypr[0] * 180/M_PI);
Serial.print("\t");
Serial.print(ypr[1] * 180/M_PI);
Serial.print("\t");
Serial.println(ypr[2] * 180/M_PI);
#endif
#ifdef OUTPUT_READABLE_REALACCEL
// display real acceleration, adjusted to remove gravity
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetAccel(&aa, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
Serial.print("areal\t");
Serial.print(aaReal.x);
Serial.print("\t");
Serial.print(aaReal.y);
Serial.print("\t");
Serial.println(aaReal.z);
#endif
#ifdef OUTPUT_READABLE_WORLDACCEL
// display initial world-frame acceleration, adjusted to remove gravity
// and rotated based on known orientation from quaternion
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetAccel(&aa, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
Serial.print("aworld\t");
Serial.print(aaWorld.x);
Serial.print("\t");
Serial.print(aaWorld.y);
Serial.print("\t");
Serial.println(aaWorld.z);
#endif
#ifdef OUTPUT_TEAPOT
// display quaternion values in InvenSense Teapot demo format:
teapotPacket[2] = fifoBuffer[0];
teapotPacket[3] = fifoBuffer[1];
teapotPacket[4] = fifoBuffer[4];
teapotPacket[5] = fifoBuffer[5];
teapotPacket[6] = fifoBuffer[8];
teapotPacket[7] = fifoBuffer[9];
teapotPacket[8] = fifoBuffer[12];
teapotPacket[9] = fifoBuffer[13];
Serial.write(teapotPacket, 14);
teapotPacket[11]++; // packetCount, loops at 0xFF on purpose
#endif
/
#ifdef OUTPUT_READABLE_YAWPITCHROLL
// display Euler angles in degrees
mpu.dmpGetQuaternion (& q, fifoBuffer);
mpu.dmpGetGravity (& gravity, & q);
mpu.dmpGetYawPitchRoll (ypr, & q, & gravity);
Serial.print ( "ypr \ t" );
Serial.print (ypr [ 0 ] * 180 / M_PI);
servo1.write (map (ypr [ 0 ] * 180 / M_PI, - 180 , 180 , 0 , 180 )); // Control servo1
Serial.print ( "\ t" );
Serial.print (ypr [ 1 ] * 180 / M_PI);
servo2.write (map (ypr [ 1 ] * 180 / M_PI, - 90 , 90 , 0 , 180 )); // Control servo2
Serial.print ( "\ t" );
Serial.println (ypr [ 2 ] * 180 / M_PI);
servo3.write (map (ypr [ 2 ] * 180 / M_PI, - 90 , 90 , 0 , 180 )); // Control servo3
#endif
// blink LED to indicate activity
blinkState = !blinkState;
digitalWrite(LED_PIN, blinkState);
}
}
参考资料
[1] MPU6050开发 – 基本概念简介[2]【Youtube@Only Innovative】DIY Self stabilizing platform | Arduino project | Self balancing robot
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