working sample for GY271 - HMC5883L
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82edfe4de5
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/*
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HMC5883L.cpp - Class file for the HMC5883L Triple Axis Magnetometer Arduino Library.
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Copyright (C) 2011 Love Electronics (loveelectronics.co.uk)/ 2012 bildr.org (Arduino 1.0 compatible)
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This program is free software: you can redistribute it and/or modify
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it under the terms of the version 3 GNU General Public License as
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published by the Free Software Foundation.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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WARNING: THE HMC5883L IS NOT IDENTICAL TO THE HMC5883!
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Datasheet for HMC5883L:
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http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/HMC5883L_3-Axis_Digital_Compass_IC.pdf
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*/
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#include <Arduino.h>
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#include "HMC5883L.h"
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HMC5883L::HMC5883L()
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{
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m_Scale = 1;
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}
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MagnetometerRaw HMC5883L::ReadRawAxis()
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{
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uint8_t* buffer = Read(DataRegisterBegin, 6);
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MagnetometerRaw raw = MagnetometerRaw();
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raw.XAxis = (buffer[0] << 8) | buffer[1];
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raw.ZAxis = (buffer[2] << 8) | buffer[3];
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raw.YAxis = (buffer[4] << 8) | buffer[5];
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return raw;
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}
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MagnetometerScaled HMC5883L::ReadScaledAxis()
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{
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MagnetometerRaw raw = ReadRawAxis();
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MagnetometerScaled scaled = MagnetometerScaled();
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scaled.XAxis = raw.XAxis * m_Scale;
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scaled.ZAxis = raw.ZAxis * m_Scale;
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scaled.YAxis = raw.YAxis * m_Scale;
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return scaled;
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}
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int HMC5883L::SetScale(float gauss)
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{
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uint8_t regValue = 0x00;
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if(gauss == 0.88)
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{
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regValue = 0x00;
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m_Scale = 0.73;
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}
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else if(gauss == 1.3)
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{
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regValue = 0x01;
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m_Scale = 0.92;
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}
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else if(gauss == 1.9)
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{
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regValue = 0x02;
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m_Scale = 1.22;
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}
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else if(gauss == 2.5)
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{
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regValue = 0x03;
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m_Scale = 1.52;
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}
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else if(gauss == 4.0)
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{
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regValue = 0x04;
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m_Scale = 2.27;
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}
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else if(gauss == 4.7)
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{
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regValue = 0x05;
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m_Scale = 2.56;
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}
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else if(gauss == 5.6)
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{
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regValue = 0x06;
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m_Scale = 3.03;
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}
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else if(gauss == 8.1)
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{
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regValue = 0x07;
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m_Scale = 4.35;
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}
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else
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return ErrorCode_1_Num;
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// Setting is in the top 3 bits of the register.
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regValue = regValue << 5;
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Write(ConfigurationRegisterB, regValue);
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}
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int HMC5883L::SetMeasurementMode(uint8_t mode)
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{
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Write(ModeRegister, mode);
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}
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void HMC5883L::Write(int address, int data)
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{
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Wire.beginTransmission(HMC5883L_Address);
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Wire.write(address);
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Wire.write(data);
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Wire.endTransmission();
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}
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uint8_t* HMC5883L::Read(int address, int length)
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{
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Wire.beginTransmission(HMC5883L_Address);
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Wire.write(address);
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Wire.endTransmission();
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Wire.beginTransmission(HMC5883L_Address);
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Wire.requestFrom(HMC5883L_Address, length);
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uint8_t buffer[length];
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if(Wire.available() == length)
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{
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for(uint8_t i = 0; i < length; i++)
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{
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buffer[i] = Wire.read();
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}
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}
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Wire.endTransmission();
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return buffer;
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}
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char* HMC5883L::GetErrorText(int errorCode)
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{
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if(ErrorCode_1_Num == 1)
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return ErrorCode_1;
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return "Error not defined.";
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}
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@ -0,0 +1,78 @@
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/*
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HMC5883L.h - Header file for the HMC5883L Triple Axis Magnetometer Arduino Library.
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Copyright (C) 2011 Love Electronics (loveelectronics.co.uk) / 2012 bildr.org (Arduino 1.0 compatible)
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This program is free software: you can redistribute it and/or modify
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it under the terms of the version 3 GNU General Public License as
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published by the Free Software Foundation.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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WARNING: THE HMC5883L IS NOT IDENTICAL TO THE HMC5883!
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Datasheet for HMC5883L:
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http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/HMC5883L_3-Axis_Digital_Compass_IC.pdf
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*/
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#ifndef HMC5883L_h
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#define HMC5883L_h
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#include <Arduino.h>
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#include <Wire.h>
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#define HMC5883L_Address 0x1E
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#define ConfigurationRegisterA 0x00
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#define ConfigurationRegisterB 0x01
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#define ModeRegister 0x02
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#define DataRegisterBegin 0x03
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#define Measurement_Continuous 0x00
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#define Measurement_SingleShot 0x01
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#define Measurement_Idle 0x03
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#define ErrorCode_1 "Entered scale was not valid, valid gauss values are: 0.88, 1.3, 1.9, 2.5, 4.0, 4.7, 5.6, 8.1"
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#define ErrorCode_1_Num 1
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struct MagnetometerScaled
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{
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float XAxis;
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float YAxis;
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float ZAxis;
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};
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struct MagnetometerRaw
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{
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int XAxis;
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int YAxis;
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int ZAxis;
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};
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class HMC5883L
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{
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public:
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HMC5883L();
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MagnetometerRaw ReadRawAxis();
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MagnetometerScaled ReadScaledAxis();
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int SetMeasurementMode(uint8_t mode);
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int SetScale(float gauss);
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char* GetErrorText(int errorCode);
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protected:
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void Write(int address, int byte);
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uint8_t* Read(int address, int length);
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private:
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float m_Scale;
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};
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#endif
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@ -0,0 +1,31 @@
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#######################################
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# Syntax Coloring Map For Matrix
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#######################################
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#######################################
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# Datatypes (KEYWORD1)
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#######################################
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HMC5883L KEYWORD1
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MagnetometerRaw KEYWORD1
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MagnetometerScaled KEYWORD1
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#######################################
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# Methods and Functions (KEYWORD2)
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#######################################
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ReadRawAxis KEYWORD2
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ReadScaledAxis KEYWORD2
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SetMeasurementMode KEYWORD2
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SetScale KEYWORD2
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XAxis KEYWORD2
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YAxis KEYWORD2
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ZAxis KEYWORD2
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#######################################
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# Constants (LITERAL1)
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#######################################
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Measurement_Continuous LITERAL1
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Measurement_SingleShot LITERAL1
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@ -1,77 +0,0 @@
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#include "MechaQMC5883.h"
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#include <Wire.h>
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void MechaQMC5883::setAddress(uint8_t addr){
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address = addr;
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}
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void MechaQMC5883::WriteReg(byte Reg,byte val){
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Wire.beginTransmission(address); //start talking
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Wire.write(Reg); // Tell the HMC5883 to Continuously Measure
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Wire.write(val); // Set the Register
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Wire.endTransmission();
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}
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void MechaQMC5883::init(){
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WriteReg(0x0B,0x01);
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//Define Set/Reset period
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setMode(Mode_Continuous,ODR_200Hz,RNG_8G,OSR_512);
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/*
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Define
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OSR = 512
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Full Scale Range = 8G(Gauss)
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ODR = 200HZ
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set continuous measurement mode
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*/
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}
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void MechaQMC5883::setMode(uint16_t mode,uint16_t odr,uint16_t rng,uint16_t osr){
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WriteReg(0x09,mode|odr|rng|osr);
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}
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void MechaQMC5883::softReset(){
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WriteReg(0x0A,0x80);
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}
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/**
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* read values from device
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* @return status value:
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* - 0:success
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* - 1:data too long to fit in transmit buffer
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* - 2:received NACK on transmit of address
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* - 3:received NACK on transmit of data
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* - 4:other error
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* - 8:overflow (magnetic field too strong)
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*/
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int MechaQMC5883::read(int* x,int* y,int* z){
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Wire.beginTransmission(address);
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Wire.write(0x00);
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int err = Wire.endTransmission();
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if (err) {return err;}
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Wire.requestFrom(address, 7);
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*x = (int)(int16_t)(Wire.read() | Wire.read() << 8);
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*y = (int)(int16_t)(Wire.read() | Wire.read() << 8);
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*z = (int)(int16_t)(Wire.read() | Wire.read() << 8);
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byte overflow = Wire.read() & 0x02;
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return overflow << 2;
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}
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int MechaQMC5883::read(int* x,int* y,int* z,int* a){
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int err = read(x,y,z);
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*a = azimuth(y,x);
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return err;
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}
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int MechaQMC5883::read(int* x,int* y,int* z,float* a){
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int err = read(x,y,z);
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*a = azimuth(y,x);
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return err;
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}
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float MechaQMC5883::azimuth(int *a, int *b){
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float azimuth = atan2((int)*a,(int)*b) * 180.0/PI;
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return azimuth < 0?360 + azimuth:azimuth;
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}
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@ -1,61 +0,0 @@
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#ifndef Mecha_QMC5883
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#define Mecha_QMC5883
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#include "Arduino.h"
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#include "Wire.h"
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#define QMC5883_ADDR 0x0D
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//REG CONTROL
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//0x09
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#define Mode_Standby 0b00000000
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#define Mode_Continuous 0b00000001
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#define ODR_10Hz 0b00000000
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#define ODR_50Hz 0b00000100
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#define ODR_100Hz 0b00001000
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#define ODR_200Hz 0b00001100
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#define RNG_2G 0b00000000
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#define RNG_8G 0b00010000
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#define OSR_512 0b00000000
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#define OSR_256 0b01000000
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#define OSR_128 0b10000000
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#define OSR_64 0b11000000
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class MechaQMC5883{
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public:
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void setAddress(uint8_t addr);
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void init(); //init qmc5883
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void setMode(uint16_t mode,uint16_t odr,uint16_t rng,uint16_t osr); // setting
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void softReset(); //soft RESET
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int read(int* x,int* y,int* z); //reading
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int read(int* x,int* y,int* z,int* a);
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int read(int* x,int* y,int* z,float* a);
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float azimuth(int* a,int* b);
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private:
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void WriteReg(uint8_t Reg,uint8_t val);
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uint8_t address = QMC5883_ADDR;
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};
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#endif
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@ -1,138 +0,0 @@
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# Mechasolution QMC5883 Library
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HMC5883 지자기 나침반 센서의 수명 만료(EOL)로인해 그동안의 HMC5883 센서는 생산이 중단 되었고, 대체 상품인 QMC5883으로 변경이 되었습니다.
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## Arduino Code
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해당 라이브러리를 이용하기 위한 몇가지 간단한 규칙이 있습니다. 아래 정리된 내용을 읽어주시고 사용하시는 프로젝트에 적용해 주세요
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### 기본 요소
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필수적으로 필요한 헤더파일(#include...)과 Setup 쪽 코드 입니다.
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```cpp
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#include <Wire.h>
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#include <MechaQMC5883.h>
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void setup(){
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Wire.begin();
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}
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```
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### 객체 선언
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객체 선언 방식입니다. setup문 밖에서 사용이 되며 qmc와 같은 이름은 사용자가 원하는 다른 이름으로 변경이 가능합니다.
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```cpp
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#include <Wire.h>
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#include <MechaQMC5883.h>
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MechaQMC5883 qmc;
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```
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### 사용 설정
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QMC5883 센서의 설정 함수 입니다.
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init 함수를 사용하면 기본 설정으로 QMC5883센서의 기능을 이용할 수 있습니다.
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```cpp
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void setup(){
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Wire.begin();
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qmc.init();
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}
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```
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좀더 세세한 설정을 원한다면 다음과 같이 사용이 가능합니다.
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```cpp
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void setup(){
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Wire.begin();
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qmc.init();
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qmc.setMode(Mode_Standby,ODR_200Hz,RNG_8G,OSR_512);
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}
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```
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setMode에 사용되는 값들은 다음 값들을 이용할 수 있습니다.
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```
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Mode : Mode_Standby / Mode_Continuous
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ODR : ODR_10Hz / ODR_50Hz / ODR_100Hz / ODR_200Hz
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ouput data update rate
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RNG : RNG_2G / RNG_8G
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magneticfield measurement range
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OSR : OSR_512 / OSR_256 / OSR_128 / OSR_64
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over sampling rate
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```
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### 값 읽기
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측정한 센서의 값을 읽는 법은 다음과 같습니다.
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```cpp
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void loop(){
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int x,y,z;
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qmc.read(&x,&y,&z);
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}
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```
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방위각에 대한 값입니다.
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```cpp
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void loop(){
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int x,y,z;
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int a;
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//float a; //float 형도 지원됩니다.
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qmc.read(&x,&y,&z,&a);
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}
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```
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별도로 원하는 방위각도 구할 수 있습니다.
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```cpp
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void loop(){
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int x,y,z;
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int a;
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qmc.read(&x,&y,&z);
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a = qmc.azimuth(&y,&x);
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}
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```
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### 기본 예제
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다음은 라이브러리 기본 예제인 raw입니다.
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위에 소개된 내용의 총집합으로 볼 수 있습니다.
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```cpp
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#include <Wire.h>
|
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#include <MechaQMC5883.h>
|
||||
|
||||
MechaQMC5883 qmc;
|
||||
|
||||
void setup() {
|
||||
Wire.begin();
|
||||
Serial.begin(9600);
|
||||
qmc.init();
|
||||
//qmc.setMode(Mode_Continuous,ODR_200Hz,RNG_2G,OSR_256);
|
||||
}
|
||||
|
||||
void loop() {
|
||||
int x,y,z;
|
||||
qmc.read(&x,&y,&z);
|
||||
|
||||
Serial.print("x: ");
|
||||
Serial.print(x);
|
||||
Serial.print(" y: ");
|
||||
Serial.print(y);
|
||||
Serial.print(" z: ");
|
||||
Serial.print(z);
|
||||
Serial.println();
|
||||
delay(100);
|
||||
}
|
||||
```
|
||||
@ -1,29 +0,0 @@
|
||||
#include <Wire.h>
|
||||
#include <MechaQMC5883.h>
|
||||
|
||||
MechaQMC5883 qmc;
|
||||
|
||||
void setup() {
|
||||
Wire.begin();
|
||||
Serial.begin(9600);
|
||||
qmc.init();
|
||||
//qmc.setMode(Mode_Continuous,ODR_200Hz,RNG_2G,OSR_256);
|
||||
}
|
||||
|
||||
void loop() {
|
||||
int x, y, z;
|
||||
int azimuth;
|
||||
//float azimuth; //is supporting float too
|
||||
qmc.read(&x, &y, &z,&azimuth);
|
||||
//azimuth = qmc.azimuth(&y,&x);//you can get custom azimuth
|
||||
Serial.print("x: ");
|
||||
Serial.print(x);
|
||||
Serial.print(" y: ");
|
||||
Serial.print(y);
|
||||
Serial.print(" z: ");
|
||||
Serial.print(z);
|
||||
Serial.print(" a: ");
|
||||
Serial.print(azimuth);
|
||||
Serial.println();
|
||||
delay(100);
|
||||
}
|
||||
@ -1,25 +0,0 @@
|
||||
#include <Wire.h>
|
||||
#include <MechaQMC5883.h>
|
||||
|
||||
MechaQMC5883 qmc;
|
||||
|
||||
void setup() {
|
||||
Wire.begin();
|
||||
Serial.begin(9600);
|
||||
qmc.init();
|
||||
//qmc.setMode(Mode_Continuous,ODR_200Hz,RNG_2G,OSR_256);
|
||||
}
|
||||
|
||||
void loop() {
|
||||
int x,y,z;
|
||||
qmc.read(&x,&y,&z);
|
||||
|
||||
Serial.print("x: ");
|
||||
Serial.print(x);
|
||||
Serial.print(" y: ");
|
||||
Serial.print(y);
|
||||
Serial.print(" z: ");
|
||||
Serial.print(z);
|
||||
Serial.println();
|
||||
delay(100);
|
||||
}
|
||||
@ -1,53 +0,0 @@
|
||||
#include <Wire.h> //I2C Arduino Library
|
||||
|
||||
#define addr 0x0D //I2C Address for The HMC5883
|
||||
|
||||
void setup() {
|
||||
|
||||
Serial.begin(9600);
|
||||
Wire.begin();
|
||||
|
||||
|
||||
Wire.beginTransmission(addr); //start talking
|
||||
Wire.write(0x0B); // Tell the HMC5883 to Continuously Measure
|
||||
Wire.write(0x01); // Set the Register
|
||||
Wire.endTransmission();
|
||||
Wire.beginTransmission(addr); //start talking
|
||||
Wire.write(0x09); // Tell the HMC5883 to Continuously Measure
|
||||
Wire.write(0x1D); // Set the Register
|
||||
Wire.endTransmission();
|
||||
}
|
||||
|
||||
void loop() {
|
||||
|
||||
int x, y, z; //triple axis data
|
||||
|
||||
//Tell the HMC what regist to begin writing data into
|
||||
|
||||
|
||||
Wire.beginTransmission(addr);
|
||||
Wire.write(0x00); //start with register 3.
|
||||
Wire.endTransmission();
|
||||
|
||||
//Read the data.. 2 bytes for each axis.. 6 total bytes
|
||||
Wire.requestFrom(addr, 6);
|
||||
if (6 <= Wire.available()) {
|
||||
x = Wire.read(); //MSB x
|
||||
x |= Wire.read() << 8; //LSB x
|
||||
z = Wire.read(); //MSB z
|
||||
z |= Wire.read() << 8; //LSB z
|
||||
y = Wire.read(); //MSB y
|
||||
y |= Wire.read() << 8; //LSB y
|
||||
}
|
||||
|
||||
// Show Values
|
||||
Serial.print("X Value: ");
|
||||
Serial.println(x);
|
||||
Serial.print("Y Value: ");
|
||||
Serial.println(y);
|
||||
Serial.print("Z Value: ");
|
||||
Serial.println(z);
|
||||
Serial.println();
|
||||
|
||||
delay(500);
|
||||
}
|
||||
@ -1,25 +0,0 @@
|
||||
#include <Wire.h>
|
||||
#include <MechaQMC5883.h>
|
||||
|
||||
MechaQMC5883 qmc;
|
||||
|
||||
void setup() {
|
||||
Wire.begin();
|
||||
Serial.begin(9600);
|
||||
qmc.init();
|
||||
//qmc.setMode(Mode_Continuous,ODR_200Hz,RNG_2G,OSR_256);
|
||||
}
|
||||
|
||||
void loop() {
|
||||
int x,y,z;
|
||||
qmc.read(&x,&y,&z);
|
||||
|
||||
Serial.print("x: ");
|
||||
Serial.print(x);
|
||||
Serial.print(" y: ");
|
||||
Serial.print(y);
|
||||
Serial.print(" z: ");
|
||||
Serial.print(z);
|
||||
Serial.println();
|
||||
delay(100);
|
||||
}
|
||||
Loading…
Reference in New Issue