mpu6050 六轴 控制鼠标移动C# 代码

以下是使用MPU6050六轴控制鼠标移动的C#代码示例：

using System;
using System.IO.Ports;
using System.Windows.Forms;

namespace MPU6050MouseControl
{
    public partial class Form1 : Form
    {
        private SerialPort port;
        private int centerX;
        private int centerY;
        private double sensitivity = 5.0;

        private double roll;
        private double pitch;
        private double yaw;

        private double rollAcc;
        private double pitchAcc;

        private double rollAccFiltered = 0;
        private double pitchAccFiltered = 0;

        private double alpha = 0.5;

        public Form1()
        {
            InitializeComponent();
            port = new SerialPort("COM3", 9600); // 请根据实际情况设置串口号和波特率
            port.DataReceived += new SerialDataReceivedEventHandler(port_DataReceived);
            port.Open();
            centerX = Screen.PrimaryScreen.Bounds.Width / 2;
            centerY = Screen.PrimaryScreen.Bounds.Height / 2;
        }

        private void port_DataReceived(object sender, SerialDataReceivedEventArgs e)
        {
            string data = port.ReadLine();
            string[] values = data.Split(',');
            if (values.Length == 6)
            {
                int ax = Convert.ToInt32(values[0]);
                int ay = Convert.ToInt32(values[1]);
                int az = Convert.ToInt32(values[2]);
                int gx = Convert.ToInt32(values[3]);
                int gy = Convert.ToInt32(values[4]);
                int gz = Convert.ToInt32(values[5]);

                rollAcc = Math.Atan2(ay, az) * 180.0 / Math.PI;
                pitchAcc = Math.Atan2(ax, az) * 180.0 / Math.PI;

                rollAccFiltered = alpha * rollAccFiltered + (1 - alpha) * rollAcc;
                pitchAccFiltered = alpha * pitchAccFiltered + (1 - alpha) * pitchAcc;

                roll = gx / 131.0 - rollAccFiltered;
                pitch = gy / 131.0 - pitchAccFiltered;
                yaw = gz / 131.0;

                int x = Convert.ToInt32(pitch * sensitivity);
                int y = Convert.ToInt32(roll * sensitivity);
                Cursor.Position = new System.Drawing.Point(Cursor.Position.X + x, Cursor.Position.Y - y);
            }
        }

        private void Form1_FormClosing(object sender, FormClosingEventArgs e)
        {
            port.Close();
        }
    }
}

上面的代码首先初始化了一个串口对象，并在串口接收数据时解析数据并将其转换为姿态信息。然后，代码计算出滤波后的姿态信息，并计算出姿态变化对应的鼠标移动信息。最后，代码将鼠标移动到计算出的位置。你可以根据需要修改代码中的灵敏度值来调整鼠标移动速度。最后，当窗口关闭时，代码关闭串口连接。请注意，这只是一个简单的示例，你需要根据你的实际需求进行修改和优化。