我正在尝试创建一个函数来查找 Arduino 上的传感器值的平均值以对其进行校准,但是总和无法正常工作,因此平均值不正确。下表显示了输出示例。左列应该是右列中显示的输出的滚动总和(负数如何进入那里?)
-10782 17112
6334 17116
23642 17308
-24802 17092
-7706 17096
9326 17032
26422 17096
-21986 17128
应该执行此操作的calibrateSensors()
函数如下所示
void calibrateSensors(int16_t * accelOffsets){
int16_t rawAccel[3];
int sampleSize = 2000;
Serial.println("Accelerometer calibration in progress...");
for (int i=0; i<sampleSize; i ++){
readAccelData(rawAccel); // get raw accelerometer data
accelOffsets[0] += rawAccel[0]; // add x accelerometer values
accelOffsets[1] += rawAccel[1]; // add y accelerometer values
accelOffsets[2] += rawAccel[2]; // add z accelerometer values
Serial.print(accelOffsets[2]);
Serial.print("\t\t");
Serial.print(rawAccel[2]);
Serial.print(" \t FIRST I:");
Serial.println(i);
}
for (int i=0; i<3; i++)
{
accelOffsets[i] = accelOffsets[i] / sampleSize;
Serial.print("Second I:");
Serial.println(i);
}
Serial.println("Accelerometer calibration complete");
Serial.println("Accelerometer Offsets:");
Serial.print("Offsets (x,y,z): ");
Serial.print(accelOffsets[0]);
Serial.print(", ");
Serial.print(accelOffsets[1]);
Serial.print(", ");
Serial.println(accelOffsets[2]);
}
readAccelData()
功能如下
void readAccelData(int16_t * destination){
// x/y/z accel register data stored here
uint8_t rawData[6];
// Read the six raw data registers into data array
I2Cdev::readBytes(MPU6050_ADDRESS, ACCEL_XOUT_H, 6, &rawData[0]);
// Turn the MSB and LSB into a signed 16-bit value
destination[0] = (int16_t)((rawData[0] << 8) | rawData[1]) ;
destination[1] = (int16_t)((rawData[2] << 8) | rawData[3]) ;
destination[2] = (int16_t)((rawData[4] << 8) | rawData[5]) ;
知道我哪里出错了吗?