2 releases
0.1.1 | Sep 2, 2024 |
---|---|
0.1.0 | Sep 2, 2024 |
#554 in Hardware support
335 downloads per month
7KB
73 lines
gy521-rppal
gy521-rppal
is a Rust crate that provides an easy-to-use interface for interacting with the GY-521 module using the rppal library. The GY-521 module typically features the MPU-6050 sensor, which combines a 3-axis accelerometer and a 3-axis gyroscope, making it ideal for applications in robotics, motion tracking, and more.
Installation
Add gy521-rppal
to your Cargo.toml
:
[dependencies]
gy521-rppal = "0.1.0"
rppal = "0.19.0"
Usage
Here's a basic example demonstrating how to initialize the GY-521 sensor, wake it up, and read accelerometer data along with calculating roll and pitch angles.
use std::f64::consts::PI;
use gy521_rppal::Gy521;
fn main() -> Result<(), Box<dyn std::error::Error>> {
// Initialize the GY-521 on I2C bus 1 with the default address 0x68
let gy521 = Gy521::new(1, 0x68)?;
// Wake up the sensor
gy521.wakeup()?;
// Read raw accelerometer data
let (mut raw_accel, mut raw_gyro) = gy521.read_raw()?;
println!("Raw Accelerometer Data: {:?}", raw_accel);
println!("Raw GyroScope Data: {:?}", raw_gyro);
// Normalize to g's
raw_accel.normalize_to_gs();
println!("Normalized Accelerometer Data: {:?}", raw_accel);
// Calculate roll and pitch
let ((roll_accel, pitch_accel), (roll_gyro, pitch_gyro)) = gy521.read_raw_poll_pitch()?;
println!("Roll (Accel): {:.2}°, Pitch (Accel): {:.2}°", roll_accel, pitch_accel);
println!("Roll (Gyro): {:.2}°, Pitch (Gyro): {:.2}°", roll_gyro, pitch_gyro);
Ok(())
}
Example Output
Raw Accelerometer Data: RawAccelData { x: 16384.0, y: 0.0, z: 16384.0 }
Raw GyroScope Data: RawAccelData { x: 16384.0, y: 0.0, z: 16384.0 }
Normalized Accelerometer Data: RawAccelData { x: 1.0, y: 0.0, z: 1.0 }
Roll (Accel): 0.00°, Pitch (Accel): -45.00°
Roll (Gyro): 0.00°, Pitch (Gyro): -45.00°
Acknowledgements
Dependencies
~360KB