C# MPU6050模块 代码算法

以下是一个使用 C# 和 MPU6050 模块的代码算法示例：

using System;
using System.Threading;

namespace MPU6050
{
    class Program
    {
        static void Main(string[] args)
        {
            // Initialize the MPU6050
            MPU6050 mpu = new MPU6050();
            mpu.Initialize();

            // Continuously read and print the accelerometer and gyroscope values
            while (true)
            {
                Vector3 acceleration = mpu.GetAcceleration();
                Vector3 gyro = mpu.GetGyroscope();

                Console.WriteLine("Acceleration: {0}, {1}, {2}", acceleration.x, acceleration.y, acceleration.z);
                Console.WriteLine("Gyroscope: {0}, {1}, {2}", gyro.x, gyro.y, gyro.z);

                Thread.Sleep(500);
            }
        }
    }

    public class MPU6050
    {
        private const int MPU_ADDRESS = 0x68;
        private const int PWR_MGMT_1 = 0x6B;
        private const int ACCEL_XOUT_H = 0x3B;
        private const int GYRO_XOUT_H = 0x43;

        private I2CDevice m_i2cDevice;

        public void Initialize()
        {
            m_i2cDevice = I2CDevice.Create(new I2CConnectionSettings(1, MPU_ADDRESS));

            // Wake up the MPU6050
            WriteByte(PWR_MGMT_1, 0x00);
        }

        public Vector3 GetAcceleration()
        {
            byte[] buffer = ReadBytes(ACCEL_XOUT_H, 6);

            short accelX = (short)((buffer[0] << 8) | buffer[1]);
            short accelY = (short)((buffer[2] << 8) | buffer[3]);
            short accelZ = (short)((buffer[4] << 8) | buffer[5]);

            return new Vector3((float)accelX / 16384.0f, (float)accelY / 16384.0f, (float)accelZ / 16384.0f);
        }

        public Vector3 GetGyroscope()
        {
            byte[] buffer = ReadBytes(GYRO_XOUT_H, 6);

            short gyroX = (short)((buffer[0] << 8) | buffer[1]);
            short gyroY = (short)((buffer[2] << 8) | buffer[3]);
            short gyroZ = (short)((buffer[4] << 8) | buffer[5]);

            return new Vector3((float)gyroX / 131.0f, (float)gyroY / 131.0f, (float)gyroZ / 131.0f);
        }

        private void WriteByte(byte register, byte value)
        {
            m_i2cDevice.Write(new byte[] { register, value });
        }

        private byte[] ReadBytes(byte register, int count)
        {
            byte[] buffer = new byte[count];
            m_i2cDevice.WriteRead(new byte[] { register }, buffer);
            return buffer;
        }
    }

    public struct Vector3
    {
        public float x;
        public float y;
        public float z;

        public Vector3(float x, float y, float z)
        {
            this.x = x;
            this.y = y;
            this.z = z;
        }
    }
}

该示例使用了 C# 的 I2CDevice 类来与 MPU6050 进行通信，读取加速度和陀螺仪的值，并将其打印到控制台上。请注意，此示例中的 MPU6050 初始化使用了“0x68”作为地址，这可能需要根据您的硬件配置进行更改。

在此示例中，我们使用了一个名为“Vector3”的简单结构体，用于存储三维向量的值。这使得我们可以轻松地在代码中处理加速度和陀螺仪的值。