- breadboard_74HCT4051.png (394.53 KiB) Viewed 6240 times
Right after running the code I just only got zeros on the output. I hope someone could help me figure out what's going on with my program or the connections of my pins.
And here is the code I used:
Code: Select all
#include <I2Cdev.h>
#include <MPU6050.h>
// 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 InvenSense evaluation board)
// AD0 high = 0x69
MPU6050 mpu_0(0x68);
MPU6050 mpu_1(0x68);
MPU6050 mpu_2(0x68);
MPU6050 mpu_3(0x68);
//MPU6050 accelgyro(0x69); // <-- use for AD0 high
int16_t ax_0, ay_0, az_0, ax_1, ay_1, az_1, ax_2, ay_2, az_2, ax_3, ay_3, az_3;
int16_t gx_0, gy_0, gz_0, gx_1, gy_1, gz_1, gx_2, gy_2, gz_2, gx_3, gy_3, gz_3;
// uncomment "OUTPUT_READABLE_ACCELGYRO" if you want to see a tab-separated
// list of the accel X/Y/Z and then gyro X/Y/Z values in decimal. Easy to read,
// not so easy to parse, and slow(er) over UART.
#define OUTPUT_READABLE_ACCELGYRO
// uncomment "OUTPUT_BINARY_ACCELGYRO" to send all 6 axes of data as 16-bit
// binary, one right after the other. This is very fast (as fast as possible
// without compression or data loss), and easy to parse, but impossible to read
// for a human.
//#define OUTPUT_BINARY_ACCELGYRO
#define LED_PIN 13
bool blinkState = false;
//Mux control pins
int s0 = 5;
int s1 = 6;
int s2 = 7;
//Mux in "SIG" pin
int SIG_pin = 0;
const int MPU=0x68;
void setup() {
pinMode(s0, OUTPUT);
pinMode(s1, OUTPUT);
pinMode(s2, OUTPUT);
// delay(5);
// Wire.begin();
// Wire.beginTransmission(MPU);
// Wire.write(0x6B); // PWR_MGMT_1 register
// Wire.write(0); // set to zero (wakes up the MPU-6050)
// Wire.endTransmission(true);
// delay(15);
//
// digitalWrite(s0, HIGH);
// digitalWrite(s1, LOW);
// digitalWrite(s2, LOW);
// delay(5);
//
// Wire.begin();
// Wire.beginTransmission(MPU);
// Wire.write(0x6B); // PWR_MGMT_1 register
// Wire.write(0); // set to zero (wakes up the MPU-6050)
// Wire.endTransmission(true);
// delay(15);
// join I2C bus (I2Cdev library doesn't do this automatically)
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
Wire.begin();
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
Fastwire::setup(400, true);
#endif
// initialize serial communication
// (38400 chosen because it works as well at 8MHz as it does at 16MHz, but
// it's really up to you depending on your project)
Serial.begin(38400);
// ================= MPU: 0 =================
digitalWrite(s0, LOW);
digitalWrite(s1, LOW);
digitalWrite(s2, LOW);
delay(5);
Wire.begin();
Wire.beginTransmission(MPU);
Wire.write(0x6B); // PWR_MGMT_1 register
Wire.write(0); // set to zero (wakes up the MPU-6050)
Wire.endTransmission(true);
delay(15);
mpu_0.initialize();
Serial.println("Testing device connections #0 ...");
Serial.println(mpu_0.testConnection() ? "MPU6050 connection #0 successful" : "MPU6050 connection #0 failed");
delay(5);
// ================= MPU: 1 =================
digitalWrite(s0, HIGH);
digitalWrite(s1, LOW);
digitalWrite(s2, LOW);
delay(5);
Wire.begin();
Wire.beginTransmission(MPU);
Wire.write(0x6B); // PWR_MGMT_1 register
Wire.write(0); // set to zero (wakes up the MPU-6050)
Wire.endTransmission(true);
delay(15);
mpu_1.initialize();
Serial.println("Testing device connections #1 ...");
Serial.println(mpu_1.testConnection() ? "MPU6050 connection #1 successful" : "MPU6050 connection #1 failed");
delay(5);
// ================= MPU: 2 =================
digitalWrite(s0, LOW);
digitalWrite(s1, HIGH);
digitalWrite(s2, LOW);
delay(5);
Wire.begin();
Wire.beginTransmission(MPU);
Wire.write(0x6B); // PWR_MGMT_1 register
Wire.write(0); // set to zero (wakes up the MPU-6050)
Wire.endTransmission(true);
delay(15);
mpu_2.initialize();
Serial.println("Testing device connections #2 ...");
Serial.println(mpu_2.testConnection() ? "MPU6050 connection #2 successful" : "MPU6050 connection #2 failed");
delay(5);
// ================= MPU: 3 =================
digitalWrite(s0, HIGH);
digitalWrite(s1, HIGH);
digitalWrite(s2, LOW);
delay(5);
Wire.begin();
Wire.beginTransmission(MPU);
Wire.write(0x6B); // PWR_MGMT_1 register
Wire.write(0); // set to zero (wakes up the MPU-6050)
Wire.endTransmission(true);
delay(15);
mpu_3.initialize();
Serial.println("Testing device connections #3 ...");
Serial.println(mpu_3.testConnection() ? "MPU6050 connection #3 successful" : "MPU6050 connection #3 failed");
delay(5);
// use the code below to change accel/gyro offset values
/*
Serial.println("Updating internal sensor offsets...");
// -76 -2359 1688 0 0 0
Serial.print(accelgyro.getXAccelOffset()); Serial.print("\t"); // -76
Serial.print(accelgyro.getYAccelOffset()); Serial.print("\t"); // -2359
Serial.print(accelgyro.getZAccelOffset()); Serial.print("\t"); // 1688
Serial.print(accelgyro.getXGyroOffset()); Serial.print("\t"); // 0
Serial.print(accelgyro.getYGyroOffset()); Serial.print("\t"); // 0
Serial.print(accelgyro.getZGyroOffset()); Serial.print("\t"); // 0
Serial.print("\n");
accelgyro.setXGyroOffset(220);
accelgyro.setYGyroOffset(76);
accelgyro.setZGyroOffset(-85);
Serial.print(accelgyro.getXAccelOffset()); Serial.print("\t"); // -76
Serial.print(accelgyro.getYAccelOffset()); Serial.print("\t"); // -2359
Serial.print(accelgyro.getZAccelOffset()); Serial.print("\t"); // 1688
Serial.print(accelgyro.getXGyroOffset()); Serial.print("\t"); // 0
Serial.print(accelgyro.getYGyroOffset()); Serial.print("\t"); // 0
Serial.print(accelgyro.getZGyroOffset()); Serial.print("\t"); // 0
Serial.print("\n");
*/
// configure Arduino LED for
pinMode(LED_PIN, OUTPUT);
}
void loop() {
// read raw accel/gyro measurements from device
// accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
// these methods (and a few others) are also available
//accelgyro.getAcceleration(&ax, &ay, &az);
//accelgyro.getRotation(&gx, &gy, &gz);
// ================= MPU: 0 =================
digitalWrite(s0, LOW);
digitalWrite(s1, LOW);
digitalWrite(s2, LOW);
delay(5);
mpu_0.getMotion6(&ax_0, &ay_0, &az_0, &gx_0, &gy_0, &gz_0);
#ifdef OUTPUT_READABLE_ACCELGYRO
Serial.print("#0\ta/g:\t");
Serial.print(ax_0); Serial.print("\t");
Serial.print(ay_0); Serial.print("\t");
Serial.print(az_0); Serial.print("\t");
Serial.print(gx_0); Serial.print("\t");
Serial.print(gy_0); Serial.print("\t");
Serial.println(gz_0);
#endif
delay(5);
// ================= MPU: 1 =================
digitalWrite(s0, HIGH);
digitalWrite(s1, LOW);
digitalWrite(s2, LOW);
delay(5);
mpu_1.getMotion6(&ax_1, &ay_1, &az_1, &gx_1, &gy_1, &gz_1);
#ifdef OUTPUT_READABLE_ACCELGYRO
Serial.print("#1\ta/g:\t");
Serial.print(ax_1); Serial.print("\t");
Serial.print(ay_1); Serial.print("\t");
Serial.print(az_1); Serial.print("\t");
Serial.print(gx_1); Serial.print("\t");
Serial.print(gy_1); Serial.print("\t");
Serial.println(gz_1);
#endif
delay(5);
// ================= MPU: 2 =================
digitalWrite(s0, LOW);
digitalWrite(s1, HIGH);
digitalWrite(s2, LOW);
delay(5);
mpu_2.getMotion6(&ax_2, &ay_2, &az_2, &gx_2, &gy_2, &gz_2);
#ifdef OUTPUT_READABLE_ACCELGYRO
Serial.print("#2\ta/g:\t");
Serial.print(ax_2); Serial.print("\t");
Serial.print(ay_2); Serial.print("\t");
Serial.print(az_2); Serial.print("\t");
Serial.print(gx_2); Serial.print("\t");
Serial.print(gy_2); Serial.print("\t");
Serial.println(gz_2);
#endif
delay(5);
// ================= MPU: 3 =================
digitalWrite(s0, HIGH);
digitalWrite(s1, HIGH);
digitalWrite(s2, LOW);
delay(5);
mpu_3.getMotion6(&ax_3, &ay_3, &az_3, &gx_3, &gy_3, &gz_3);
#ifdef OUTPUT_READABLE_ACCELGYRO
Serial.print("#3\ta/g:\t");
Serial.print(ax_3); Serial.print("\t");
Serial.print(ay_3); Serial.print("\t");
Serial.print(az_3); Serial.print("\t");
Serial.print(gx_3); Serial.print("\t");
Serial.print(gy_3); Serial.print("\t");
Serial.println(gz_3);
#endif
delay(5);
// #ifdef OUTPUT_BINARY_ACCELGYRO
// Serial.write((uint8_t)(ax >> 8)); Serial.write((uint8_t)(ax & 0xFF));
// Serial.write((uint8_t)(ay >> 8)); Serial.write((uint8_t)(ay & 0xFF));
// Serial.write((uint8_t)(az >> 8)); Serial.write((uint8_t)(az & 0xFF));
// Serial.write((uint8_t)(gx >> 8)); Serial.write((uint8_t)(gx & 0xFF));
// Serial.write((uint8_t)(gy >> 8)); Serial.write((uint8_t)(gy & 0xFF));
// Serial.write((uint8_t)(gz >> 8)); Serial.write((uint8_t)(gz & 0xFF));
// #endif
// blink LED to indicate activity
blinkState = !blinkState;
digitalWrite(LED_PIN, blinkState);
}