I'm using an MPU6050 with the arduino UNO, however the values that this sensor displays are the raw values. I need the acceleration values for distance calculation, but I'm not getting the actual acceleration value.
Here are some answers that the sensor displays:
AcX = -13428 | AcY = 5280 | AcZ = -8384 | Tmp = 27.12 | GyX = -998 | GyY = -310 | GyZ = -86
AcX = -13120 | AcY = 5580 | AcZ = -7488 | Tmp = 27.07 | GyX = -269 | GyY = -203 | GyZ = -2
AcX = -13212 | AcY = 5444 | AcZ = -8396 | Tmp = 27.12 | GyX = -367 | GyY = -264 | GyZ = 135
Based on the sensor datasheet I divided the acceleration values by 16384 to test and the values become Ax = 0.00 Ay = 0.00 and Az = -1 I believe I did not do it correctly.
Would anyone know how to convert the raw acceleration values to actual values? Sensor Datasheet: link
//Carrega a biblioteca Wire
#include<Wire.h>
//Endereco I2C do MPU6050
const int MPU=0x68;
//Variaveis para armazenar valores dos sensores
int AcX=0,AcY=0,AcZ=0,Tmp=0,GyX=0,GyY=0,GyZ=0;
void setup()
{
Serial.begin(9600);
Wire.begin();
Wire.beginTransmission(MPU);
Wire.write(0x6B);
//Inicializa o MPU-6050
Wire.write(0);
Wire.endTransmission(true);
}
void loop()
{
Wire.beginTransmission(MPU);
Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H)
Wire.endTransmission(false);
//Solicita os dados do sensor
Wire.requestFrom(MPU,14,true);
//Armazena o valor dos sensores nas variaveis correspondentes
AcX=Wire.read()<<8|Wire.read(); //0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)
AcY=Wire.read()<<8|Wire.read(); //0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
AcZ=Wire.read()<<8|Wire.read(); //0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)
Tmp=Wire.read()<<8|Wire.read(); //0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L)
GyX=Wire.read()<<8|Wire.read(); //0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
GyY=Wire.read()<<8|Wire.read(); //0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
GyZ=Wire.read()<<8|Wire.read(); //0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)
//imprimindo os valores da aceleração lido pelo sensor antes do calculo.
Serial.println("\n");
Serial.print("AcX = "); Serial.print(AcX);
//Envia valor Y do acelerometro para a serial
Serial.print(" | AcY = "); Serial.print(AcY);
//Envia valor Z do acelerometro para a serial
Serial.print(" | AcZ = "); Serial.println(AcZ);
Serial.println("\n");
//calculo para converter o valor bruto do acelerometro
float Ax=AcX/16384;
float Ay=AcY/16384;
float Az=AcZ/16384;
//valor da aceleração após o cálculo.
Serial.print("AcX = "); Serial.print(Ax);
Serial.print(" | AcY = "); Serial.print(Ay);
Serial.print(" | AcZ = "); Serial.print(Az);
//Envia valor da temperatura para a serial
//Calcula a temperatura em graus Celsius
Serial.print(" | Tmp = "); Serial.print(Tmp/340.00+36.53);
//Envia valor X do giroscopio para a serial
Serial.print(" | GyX = "); Serial.print(GyX);
//Envia valor Y do giroscopio para a serial
Serial.print(" | GyY = "); Serial.print(GyY);
//Envia valor Z do giroscopio para a serial
Serial.print(" | GyZ = "); Serial.println(GyZ);
//Aguarda 300 ms e reinicia o processo
delay(400);
}