This document defines functions and variables for reading gyroscope data from an MPU6050 sensor and using it to control mouse movement in Arduino. It initializes the MPU6050, reads gyroscope values in degrees/second, converts them to mouse movement values, and moves the mouse when a button is pressed based on the gyroscope readings. It also includes functions to read and write registers on the MPU6050 sensor.

1. #include <Wire.h>
#define MPU6050_ACCEL_XOUT_H 0x3B // R
#define MPU6050_WHO_AM_I 0x75 // R
#define MPU6050_PWR_MGMT_1 0x6B // R/W
#define MPU6050_I2C_ADDRESS 0x68
//---------ボタンの設定-------------------------------------------------------
const int buttonPin1 = 11;//11番ピンにボタンの配線を付ける
//------MPU6050から読み込む変数（元からの流用）------------------------------
typedef union accel_t_gyro_union{
struct{
uint8_t x_accel_h;
uint8_t x_accel_l;
uint8_t y_accel_h;
uint8_t y_accel_l;
uint8_t z_accel_h;
uint8_t z_accel_l;
uint8_t t_h;
uint8_t t_l;
uint8_t x_gyro_h;
uint8_t x_gyro_l;
uint8_t y_gyro_h;
uint8_t y_gyro_l;
uint8_t z_gyro_h;
uint8_t z_gyro_l;
}
reg;
struct{
int16_t x_accel;
int16_t y_accel;
int16_t z_accel;
int16_t temperature;
int16_t x_gyro;
int16_t y_gyro;
int16_t z_gyro;
}
value;
};
// MPU control/status vars(元からの流用)----------------------------------------
bool dmpReady = false; // set true if DMP init was successful
uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount; // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer
int error;
accel_t_gyro_union accel_t_gyro;
float gyro_x,gyro_y,gyro_z;
float accel_X_cal[4]={1,1,1};
float accel_Y_cal[4]={1,1,1};
float accel_Z_cal[4]={1,1,1};
//------------------MPU6050からジャイロの値を読み込む----------------------
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2. void Read_deg(){
error = MPU6050_read (MPU6050_ACCEL_XOUT_H, (uint8_t *) &accel_t_gyro, sizeof(accel_t_gyro));uint8_t swap;
#define SWAP(x,y) swap = x; x = y; y = swap
SWAP (accel_t_gyro.reg.x_accel_h, accel_t_gyro.reg.x_accel_l);
SWAP (accel_t_gyro.reg.y_accel_h, accel_t_gyro.reg.y_accel_l);
SWAP (accel_t_gyro.reg.z_accel_h, accel_t_gyro.reg.z_accel_l);
SWAP (accel_t_gyro.reg.t_h, accel_t_gyro.reg.t_l);
SWAP (accel_t_gyro.reg.x_gyro_h, accel_t_gyro.reg.x_gyro_l);
SWAP (accel_t_gyro.reg.y_gyro_h, accel_t_gyro.reg.y_gyro_l);
SWAP (accel_t_gyro.reg.z_gyro_h, accel_t_gyro.reg.z_gyro_l);
//-----読み取ったジャイロの値を換算する（元からの流用)--------------------
gyro_x = accel_t_gyro.value.x_gyro / 131.0; //FS_SEL_0 131 LSB / (°/s)
gyro_y = accel_t_gyro.value.y_gyro / 131.0;
gyro_z = accel_t_gyro.value.z_gyro / 131.0;
//----ジャイロの値を表示--------------------------------------------------
Serial.print("Degree_sp ");
Serial.print("X':");
Serial.print(gyro_x, 2);
Serial.print("t");
Serial.print(",Y':");
Serial.print(gyro_y, 2);
Serial.print(" ,Z':");
Serial.print(gyro_z, 2);
Serial.println("t");
Serial.println("");
}
void setup(){
Wire.begin();
Mouse.begin();
int error;
uint8_t c;
//INPUT_PULLUPを使い、aruduinoからボタンに直接配線できるようにする
pinMode(buttonPin1, INPUT_PULLUP);
Serial.begin(19200);
error = MPU6050_read (MPU6050_WHO_AM_I, &c, 1);
error = MPU6050_read (MPU6050_PWR_MGMT_1, &c, 1);
MPU6050_write_reg (MPU6050_PWR_MGMT_1, 0);
Serial.println("I'm ready!");
delay(1000);
}
void loop(){
//------------ボタンがクリックされたらマウスをクリックとマウス移動させる---------------
if(digitalRead(buttonPin1)!=HIGH){
Mouse.press(MOUSE_LEFT);
Read_deg();
//ジャイロ値によるマウスの移動 ↓ここの-1は持った際の自重（重力）を考慮している
Mouse.move(gyro_y*-.2,gyro_x*-.2-1,0);
}
//--------------クリックがない場合はマウスの移動のみ-------------------------
else{
Mouse.release(MOUSE_LEFT);
Read_deg();
Mouse.move(gyro_y*-.2,gyro_x*-.2-1,0);
2

3. }
//------ディレイを一応2ms入れてみる------------------------------------------
delay(2);
}
//-------- MPU6050_read(元からの流用)-------------------------------------
int MPU6050_read(int start, uint8_t *buffer, int size){
int i, n, error;
Wire.beginTransmission(MPU6050_I2C_ADDRESS);
n = Wire.write(start);
if (n != 1)
return (-10);
n = Wire.endTransmission(false); // hold the I2C-bus
if (n != 0)
return (n);
// Third parameter is true: relase I2C-bus after data is read.
Wire.requestFrom(MPU6050_I2C_ADDRESS, size, true);
i = 0;
while(Wire.available() && i<size){
buffer[i++]=Wire.read();
}
if ( i != size)
return (-11);
return (0); // return : no error
}
//---------------- MPU6050_write(元からの流用)-------------------------
int MPU6050_write(int start, const uint8_t *pData, int size){
int n, error;
Wire.beginTransmission(MPU6050_I2C_ADDRESS);
n = Wire.write(start); // write the start address
if (n != 1)
return (-20);
n = Wire.write(pData, size); // write data bytes
if (n != size)
return (-21);
error = Wire.endTransmission(true); // release the I2C-bus
if (error != 0)
return (error);
return (0); // return : no error
}
// MPU6050_write_reg
int MPU6050_write_reg(int reg, uint8_t data){
int error;
error = MPU6050_write(reg, &data, 1);
return (error);
}
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