קורס אמבדד – 002 – RB18 – תירגול שפת C , תוך לימוד אמבדד C

אתרים של רכיבים :

https://www.sparkfun.com/

תרגיל : להיכנס לספאקפאן לחפש

חיישן צבע COLOR SESNOR
AS7265

חזרה : לולאות , מחרוזות , לולאות .

נתחיל ממשהו כיפי…. חזרה על לולאת FOR

{
  "version": 1,
  "author": "Arvind Patil",
  "editor": "wokwi",
  "parts": [
    { "type": "wokwi-arduino-uno", "id": "uno", "top": 146.33, "left": -51.88, "attrs": {} },
    {
      "type": "wokwi-buzzer",
      "id": "bz1",
      "top": -19.75,
      "left": 74.81,
      "attrs": { "volume": "0.1" }
    },
    {
      "type": "wokwi-led",
      "id": "led1",
      "top": -24.18,
      "left": 267.66,
      "attrs": { "color": "green" }
    }
  ],
  "connections": [
    [ "bz1:2", "uno:9", "red", [ "v89.07", "h-7.33" ] ],
    [ "bz1:1", "uno:GND.1", "black", [ "v75.73", "h-51.33" ] ],
    [ "led1:A", "uno:9", "red", [ "v84.4", "h168" ] ],
    [ "led1:C", "uno:GND.3", "black     ", [ "v187.06", "h208" ] ]
  ]
}

{

"version": 1,

"author": "Arvind Patil",

"editor": "wokwi",

"parts": [

{ "type": "wokwi-arduino-uno", "id": "uno", "top": 146.33, "left": -51.88, "attrs": {} },

{

"type": "wokwi-buzzer",

"id": "bz1",

"top": -19.75,

"left": 74.81,

"attrs": { "volume": "0.1" }

{

"type": "wokwi-led",

"id": "led1",

"top": -24.18,

"left": 267.66,

"attrs": { "color": "green" }

}

"connections": [

[ "bz1:2", "uno:9", "red", [ "v89.07", "h-7.33" ] ],

[ "bz1:1", "uno:GND.1", "black", [ "v75.73", "h-51.33" ] ],

[ "led1:A", "uno:9", "red", [ "v84.4", "h168" ] ],

[ "led1:C", "uno:GND.3", "black ", [ "v187.06", "h208" ] ]

]

}

יצירת צללים פשוטים :

/*
  robotronix.co.il
  play tone  with a loop
 */


const int speaker1 = 9;
const int Led1  =  9;

void setup() {
  pinMode(speaker1, OUTPUT);

  for(int i=0;i<5;i=i+1) // I=I+1 --> I++
  {
      tone(speaker1, 1200); // Send 1200KHz sound signal, which is a G tone
      delay(300);
        tone(speaker1, 1400); // Send 1400KHz sound signal, which is a G tone
      delay(300);

    noTone(speaker1); // Stop sound
    delay(200);
  }
  
}
void loop() {}

robotronix.co.il

play tone with a loop

const int speaker1 = 9;

const int Led1 = 9;

void setup() {

pinMode(speaker1, OUTPUT);

for(int i=0;i<5;i=i+1) // I=I+1 --> I++

{

tone(speaker1, 1200); // Send 1200KHz sound signal, which is a G tone

delay(300);

tone(speaker1, 1400); // Send 1400KHz sound signal, which is a G tone

delay(300);

noTone(speaker1); // Stop sound

delay(200);

}

void loop() {}

https://wokwi.com/projects/336059428787716692

גירוסקופ , אקסלומטר – גימבל – מערכות יצוב

יצוב מערכות מכניות

MPU6050

// Basic demo for accelerometer readings from Adafruit MPU6050

#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>
#include <Wire.h>

Adafruit_MPU6050 mpu;

void setup(void) {
  Serial.begin(115200);
  while (!Serial)
    delay(10); // will pause Zero, Leonardo, etc until serial console opens

  Serial.println("Adafruit MPU6050 test!");

  // Try to initialize!
  if (!mpu.begin()) {
    Serial.println("Failed to find MPU6050 chip");
    while (1) {
      delay(10);
    }
  }
  Serial.println("MPU6050 Found!");

  mpu.setAccelerometerRange(MPU6050_RANGE_8_G);
  Serial.print("Accelerometer range set to: ");
  switch (mpu.getAccelerometerRange()) {
  case MPU6050_RANGE_2_G:
    Serial.println("+-2G");
    break;
  case MPU6050_RANGE_4_G:
    Serial.println("+-4G");
    break;
  case MPU6050_RANGE_8_G:
    Serial.println("+-8G");
    break;
  case MPU6050_RANGE_16_G:
    Serial.println("+-16G");
    break;
  }
  mpu.setGyroRange(MPU6050_RANGE_2000_DEG);
  Serial.print("Gyro range set to: ");
  switch (mpu.getGyroRange()) {
  case MPU6050_RANGE_250_DEG:
    Serial.println("+- 250 deg/s");
    break;
  case MPU6050_RANGE_500_DEG:
    Serial.println("+- 500 deg/s");
    break;
  case MPU6050_RANGE_1000_DEG:
    Serial.println("+- 1000 deg/s");
    break;
  case MPU6050_RANGE_2000_DEG:
    Serial.println("+- 2000 deg/s");
    break;
  }

  mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);
  Serial.print("Filter bandwidth set to: ");
  switch (mpu.getFilterBandwidth()) {
  case MPU6050_BAND_260_HZ:
    Serial.println("260 Hz");
    break;
  case MPU6050_BAND_184_HZ:
    Serial.println("184 Hz");
    break;
  case MPU6050_BAND_94_HZ:
    Serial.println("94 Hz");
    break;
  case MPU6050_BAND_44_HZ:
    Serial.println("44 Hz");
    break;
  case MPU6050_BAND_21_HZ:
    Serial.println("21 Hz");
    break;
  case MPU6050_BAND_10_HZ:
    Serial.println("10 Hz");
    break;
  case MPU6050_BAND_5_HZ:
    Serial.println("5 Hz");
    break;
  }

  Serial.println("");
  delay(100);
}

void loop() {

  /* Get new sensor events with the readings */
  sensors_event_t a, g, temp;
  mpu.getEvent(&a, &g, &temp);

  /* Print out the values */
  Serial.print("Acceleration X: ");
  Serial.print(a.acceleration.x);
  Serial.print(", Y: ");
  Serial.print(a.acceleration.y);
  Serial.print(", Z: ");
  Serial.print(a.acceleration.z);
  Serial.println(" m/s^2");

  Serial.print("Rotation X: ");
  Serial.print(g.gyro.x);
  Serial.print(", Y: ");
  Serial.print(g.gyro.y);
  Serial.print(", Z: ");
  Serial.print(g.gyro.z);
  Serial.println(" rad/s");

  Serial.print("Temperature: ");
  Serial.print(temp.temperature);
  Serial.println(" degC");

  Serial.println("");
  delay(500);
}

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// Basic demo for accelerometer readings from Adafruit MPU6050

#include <Adafruit_MPU6050.h>

#include <Adafruit_Sensor.h>

#include <Wire.h>

Adafruit_MPU6050 mpu;

void setup(void) {

Serial.begin(115200);

while (!Serial)

delay(10); // will pause Zero, Leonardo, etc until serial console opens

Serial.println("Adafruit MPU6050 test!");

// Try to initialize!

if (!mpu.begin()) {

Serial.println("Failed to find MPU6050 chip");

while (1) {

delay(10);

}

Serial.println("MPU6050 Found!");

mpu.setAccelerometerRange(MPU6050_RANGE_8_G);

Serial.print("Accelerometer range set to: ");

switch (mpu.getAccelerometerRange()) {

case MPU6050_RANGE_2_G:

Serial.println("+-2G");

break;

case MPU6050_RANGE_4_G:

Serial.println("+-4G");

break;

case MPU6050_RANGE_8_G:

Serial.println("+-8G");

break;

case MPU6050_RANGE_16_G:

Serial.println("+-16G");

break;

}

mpu.setGyroRange(MPU6050_RANGE_2000_DEG);

Serial.print("Gyro range set to: ");

switch (mpu.getGyroRange()) {

case MPU6050_RANGE_250_DEG:

Serial.println("+- 250 deg/s");

break;

case MPU6050_RANGE_500_DEG:

Serial.println("+- 500 deg/s");

break;

case MPU6050_RANGE_1000_DEG:

Serial.println("+- 1000 deg/s");

break;

case MPU6050_RANGE_2000_DEG:

Serial.println("+- 2000 deg/s");

break;

}

mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);

Serial.print("Filter bandwidth set to: ");

switch (mpu.getFilterBandwidth()) {

case MPU6050_BAND_260_HZ:

Serial.println("260 Hz");

break;

case MPU6050_BAND_184_HZ:

Serial.println("184 Hz");

break;

case MPU6050_BAND_94_HZ:

Serial.println("94 Hz");

break;

case MPU6050_BAND_44_HZ:

Serial.println("44 Hz");

break;

case MPU6050_BAND_21_HZ:

Serial.println("21 Hz");

break;

case MPU6050_BAND_10_HZ:

Serial.println("10 Hz");

break;

case MPU6050_BAND_5_HZ:

Serial.println("5 Hz");

break;

}

Serial.println("");

delay(100);

}

void loop() {

/* Get new sensor events with the readings */

sensors_event_t a, g, temp;

mpu.getEvent(&a, &g, &temp);

/* Print out the values */

Serial.print("Acceleration X: ");

Serial.print(a.acceleration.x);

Serial.print(", Y: ");

Serial.print(a.acceleration.y);

Serial.print(", Z: ");

Serial.print(a.acceleration.z);

Serial.println(" m/s^2");

Serial.print("Rotation X: ");

Serial.print(g.gyro.x);

Serial.print(", Y: ");

Serial.print(g.gyro.y);

Serial.print(", Z: ");

Serial.print(g.gyro.z);

Serial.println(" rad/s");

Serial.print("Temperature: ");

Serial.print(temp.temperature);

Serial.println(" degC");

Serial.println("");

delay(500);

}

שוב חזרה קצרה מאוד

https://wokwi.com/projects/340367397829476948

#include <Servo.h>

Servo myservo;  // create servo object to control a servo

int potpin = 0;  // analog pin used to connect the potentiometer
int val;    // variable to read the value from the analog pin

void setup() {
  myservo.attach(9);  // attaches the servo on pin 9 to the servo object
}

void loop() {
  val = analogRead(potpin);            // reads the value of the potentiometer (value between 0 and 1023)
  val = map(val, 0, 1023, 0, 180);     // scale it to use it with the servo (value between 0 and 180)
  myservo.write(val);                  // sets the servo position according to the scaled value
  delay(15);                           // waits for the servo to get there
}

#include <Servo.h>

Servo myservo; // create servo object to control a servo

int potpin = 0; // analog pin used to connect the potentiometer

int val; // variable to read the value from the analog pin

void setup() {

myservo.attach(9); // attaches the servo on pin 9 to the servo object

}

void loop() {

val = analogRead(potpin); // reads the value of the potentiometer (value between 0 and 1023)

val = map(val, 0, 1023, 0, 180); // scale it to use it with the servo (value between 0 and 180)

myservo.write(val); // sets the servo position according to the scaled value

delay(15); // waits for the servo to get there

}

נחזור לצלילים בקרוב ….

סוגי משתנים :

מערך חד מימדי

int main () {

   int n[ 10 ]; /* n is an array of 10 integers */
   int i,j;
 
   /* initialize elements of array n to 0 */         
   for ( i = 0; i < 10; i++ ) {
      n[ i ] = i + 100; /* set element at location i to i + 100 */
   }
   
   /* output each array element's value */
   for (j = 0; j < 10; j++ ) {
      printf("Element[%d] = %d\n", j, n[j] );
   }
 
   return 0;
}

int main () {

int n[ 10 ]; /* n is an array of 10 integers */

int i,j;

/* initialize elements of array n to 0 */

for ( i = 0; i < 10; i++ ) {

n[ i ] = i + 100; /* set element at location i to i + 100 */

}

/* output each array element's value */

for (j = 0; j < 10; j++ ) {

printf("Element[%d] = %d\n", j, n[j] );

}

return 0;

}

פקודה RANDOMIZE

#include <stdio.h>  
#include <conio.h>  
#include <stdlib.h>  
int main () {
     srand(time(0));
   float n[ 10 ]; /* n is an array of 10 integers */
   int i,j;
 
   /* initialize elements of array n to 0 */         
   for ( i = 0; i < 10; i++ ) {
      n[ i ] =rand()%100 ; /* set random numbers 0 - 100 */
   }
   
   /* output each array element's value */
   for (j = 0; j < 10; j++ ) {
      printf("Element[%d] = %.2f\n", j, n[j] );
   }
 
   return 0;
}

#include <stdio.h>

#include <conio.h>

#include <stdlib.h>

int main () {

srand(time(0));

float n[ 10 ]; /* n is an array of 10 integers */

int i,j;

/* initialize elements of array n to 0 */

for ( i = 0; i < 10; i++ ) {

n[ i ] =rand()%100 ; /* set random numbers 0 - 100 */

}

/* output each array element's value */

for (j = 0; j < 10; j++ ) {

printf("Element[%d] = %.2f\n", j, n[j] );

}

return 0;

}

שימוש במחרוזות

טבלת ASCII

Function	Syntax (or) Example	Description
strcpy()	strcpy(string1, string2)	Copies string2 value into string1
strncpy()	strncpy(string1, string2, 5)	Copies first 5 characters string2 into string1
strlen()	strlen(string1)	returns total number of characters in string1
strcat()	strcat(string1,string2)	Appends string2 to string1
strncat()	strncpy(string1, string2, 4)	Appends first 4 characters of string2 to string1
strcmp()	strcmp(string1, string2)	Returns 0 if string1 and string2 are the same; less than 0 if string1<string2; greater than 0 if string1>string2
strncmp()	strncmp(string1, string2, 4)	Compares first 4 characters of both string1 and string2
strcmpi()	strcmpi(string1,string2)	Compares two strings, string1 and string2 by ignoring case (upper or lower)
stricmp()	stricmp(string1, string2)	Compares two strings, string1 and string2 by ignoring case (similar to strcmpi())
strlwr()	strlwr(string1)	Converts all the characters of string1 to lower case.
strupr()	strupr(string1)	Converts all the characters of string1 to upper case.
strdup()	string1 = strdup(string2)	Duplicated value of string2 is assigned to string1
strchr()	strchr(string1, ‘b’)	Returns a pointer to the first occurrence of character ‘b’ in string1
strrchr()	‘strrchr(string1, ‘b’)	Returns a pointer to the last occurrence of character ‘b’ in string1
strstr()	strstr(string1, string2)	Returns a pointer to the first occurrence of string2 in string1
strset()	strset(string1, ‘B’)	Sets all the characters of string1 to given character ‘B’.
strnset()	strnset(string1, ‘B’, 5)	Sets the first 5 characters of string1 to the given character ‘B’.
strrev()	strrev(string1)	It reverses the value of string1

מערך רב מימדי

int a[3][4] = {  
   {0, 1, 2, 3} ,   /*  initializers for row indexed by 0 */
   {4, 5, 6, 7} ,   /*  initializers for row indexed by 1 */
   {8, 9, 10, 11}   /*  initializers for row indexed by 2 */
};

int a[3][4] = {

{0, 1, 2, 3} , /* initializers for row indexed by 0 */

{4, 5, 6, 7} , /* initializers for row indexed by 1 */

{8, 9, 10, 11} /* initializers for row indexed by 2 */

};

#include <stdio.h>
 
int main () {

   /* an array with 5 rows and 2 columns*/
   int a[5][2] = { {0,0}, {1,2}, {2,4}, {3,6},{4,8}};
   int i, j;
 
   /* output each array element's value */
   for ( i = 0; i < 5; i++ ) {

      for ( j = 0; j < 2; j++ ) {
         printf("a[%d][%d] = %d\n", i,j, a[i][j] );
      }
   }
   
   return 0;
}

#include <stdio.h>

int main () {

/* an array with 5 rows and 2 columns*/

int a[5][2] = { {0,0}, {1,2}, {2,4}, {3,6},{4,8}};

int i, j;

/* output each array element's value */

for ( i = 0; i < 5; i++ ) {

for ( j = 0; j < 2; j++ ) {

printf("a[%d][%d] = %d\n", i,j, a[i][j] );

}

return 0;

}

ניגוון יונתן הקטן

//  www.robotronix.co.il
// רובוטרוניקס קורס C506
// שיעור 16 - צללים טונים 


#define   speaker  5
const int Led3  =  2;
#define EndOfMusic=-1;

#define DO  261
#define RE  293 
#define ME  329
#define FA  349
#define SOL 392
#define LA  440
#define SI  493

int Song1[2][100];
int StackIndex=0;

void play(int frequency, int duration)
{
   digitalWrite(3, HIGH);
    tone(speaker, frequency); // RE
    delay(duration);
    noTone(speaker); // Stop sound
   digitalWrite(3, LOW);
    delay(250); 

}

void push(int frequency, int duration)
{
 Song1[0][StackIndex] =frequency;
 Song1[1][StackIndex] =duration;
StackIndex++;
}

void setup() {
int i=0;
  pinMode(speaker, OUTPUT);
  pinMode(3, OUTPUT);
  // load melody to array 
 Song1[0][0] =SOL;
 Song1[1][0]=500;

 Song1[0][1] =ME;
 Song1[1][1]=500;

 Song1[0][2] =ME;
 Song1[1][2]= 1000;

Song1[0][3] =FA;
 Song1[1][3]=500;

 Song1[0][4] =RE;
 Song1[1][4]=500;

 Song1[0][5] =RE;
 Song1[1][5]= 1000;


 Song1[0][6] =DO;
 Song1[1][6]= 500;
 

  Song1[0][7] =RE;
 Song1[1][7]= 500;


  Song1[0][8] =ME;
  Song1[1][8]= 500;

  Song1[0][9] =FA;
  Song1[1][9]= 500;

  Song1[0][10] =SOL;
  Song1[1][10]= 500;

  Song1[0][11] =SOL;
  Song1[1][11]= 500;

  Song1[0][12] =SOL;
  Song1[1][12]= 500;




 Song1[0][13] =-1;


while (Song1[0][i]!=-1)
{
 play( Song1[0][i] ,Song1[1][i]);
 i++; // i=i+1 
}
 
 


   


}

void loop() {
}

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// www.robotronix.co.il

// רובוטרוניקס קורס C506

// שיעור 16 - צללים טונים

#define speaker 5

const int Led3 = 2;

#define EndOfMusic=-1;

#define DO 261

#define RE 293

#define ME 329

#define FA 349

#define SOL 392

#define LA 440

#define SI 493

int Song1[2][100];

int StackIndex=0;

void play(int frequency, int duration)

{

digitalWrite(3, HIGH);

tone(speaker, frequency); // RE

delay(duration);

noTone(speaker); // Stop sound

digitalWrite(3, LOW);

delay(250);

}

void push(int frequency, int duration)

{

Song1[0][StackIndex] =frequency;

Song1[1][StackIndex] =duration;

StackIndex++;

}

void setup() {

int i=0;

pinMode(speaker, OUTPUT);

pinMode(3, OUTPUT);

// load melody to array

Song1[0][0] =SOL;

Song1[1][0]=500;

Song1[0][1] =ME;

Song1[1][1]=500;

Song1[0][2] =ME;

Song1[1][2]= 1000;

Song1[0][3] =FA;

Song1[1][3]=500;

Song1[0][4] =RE;

Song1[1][4]=500;

Song1[0][5] =RE;

Song1[1][5]= 1000;

Song1[0][6] =DO;

Song1[1][6]= 500;

Song1[0][7] =RE;

Song1[1][7]= 500;

Song1[0][8] =ME;

Song1[1][8]= 500;

Song1[0][9] =FA;

Song1[1][9]= 500;

Song1[0][10] =SOL;

Song1[1][10]= 500;

Song1[0][11] =SOL;

Song1[1][11]= 500;

Song1[0][12] =SOL;

Song1[1][12]= 500;

Song1[0][13] =-1;

while (Song1[0][i]!=-1)

{

play( Song1[0][i] ,Song1[1][i]);

i++; // i=i+1

}

void loop() {

}

בניית מקליט “מנגינה” (פשוט) תרגיל כיתה

כפתור אדום מקליט את התוים (אותם שווי זמן – נזניח זמן לחיצת הכפתור בתרגיל זה) לתוך מערך

כפתור ירוק משמיע את התווים מתורך מערך

uart

raspberry pi uart

I2C

https://wokwi.com/projects/334566716332835412

//Kombinasi 4 (GYROSCOPE + OLED)
//Menampilkan Logo Indobot Academy lalu Gerak Gyroscope
//Tampilan di OLED
//Link Wokwi : https://wokwi.com/projects/334566716332835412

#include <Wire.h>
#include <Adafruit_SSD1306.h>
#include <Adafruit_GFX.h>
#include <Adafruit_NeoPixel.h>

Adafruit_SSD1306 display( 128, 64);   // 128 pixels width, 64 pixels height

#define LED_PIN   6
#define LED_COUNT 1
Adafruit_NeoPixel neoPixel( LED_COUNT, LED_PIN, NEO_GRB + NEO_KHZ800);

const int mpuAddress = 0x68;          // I2C address of the MPU-6050

float xByGyro, yByGyro, zByGyro;      // Global variables for the rotation by gyro

// Set the origin in the middle of the display
const int xOrigin = 64;
const int yOrigin = 32;

const float viewDistance = 150.0;     // higher for less perspective, lower for more.

// Vertices for a cube
// A cube has 8 corners and each coordinate has x,y,z values.
#define NUM_VERTICES 8
const int cube_vertex[NUM_VERTICES][3] = 
{
  { -20, -20,  20 },     // x, y, z
  {  20, -20,  20 },
  {  20,  20,  20 },
  { -20,  20,  20 },
  { -20, -20, -20 },
  {  20, -20, -20 },
  {  20,  20, -20 },
  { -20,  20, -20 }
};

// The wirefram is to display the lines on the OLED display
// It contains the corners of the shape in 2D coordinates
int wireframe[NUM_VERTICES][2];

// 'logo-iot', 128x64pxA
const unsigned char Logologo_iot [] PROGMEM = {
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xf3, 0x80, 0xff, 0x8e, 0x00, 0x0f, 0xff, 0xf3, 0xff, 0xc0, 0x00, 0x07, 0xe0, 0x1f, 0x80, 0x01, 
	0xf3, 0x80, 0x3f, 0x8e, 0x00, 0x03, 0xff, 0x71, 0xdf, 0xc0, 0x00, 0x07, 0xc0, 0x0f, 0x80, 0x01, 
	0xf3, 0x9c, 0x0f, 0x8e, 0x7f, 0xe1, 0xfe, 0x71, 0xcf, 0xcf, 0xff, 0xc7, 0x87, 0x83, 0xfc, 0x7f, 
	0xf3, 0x9f, 0x83, 0x8e, 0x7f, 0xf0, 0xfc, 0x71, 0xc7, 0xcf, 0xff, 0xcf, 0x1f, 0xe1, 0xfc, 0x7f, 
	0xf3, 0x9f, 0xe1, 0x8e, 0x7f, 0xfc, 0xf8, 0xf1, 0xe7, 0xcf, 0xff, 0x8e, 0x3f, 0xf1, 0xfc, 0x7f, 
	0xf3, 0x9f, 0xf0, 0x8e, 0x7f, 0xfc, 0x78, 0xf1, 0xe3, 0xcf, 0xff, 0x9e, 0x7f, 0xf8, 0xfc, 0x7f, 
	0xf3, 0x9f, 0xf8, 0x8e, 0x7f, 0xfe, 0x71, 0xf1, 0xf3, 0xcf, 0xff, 0x1c, 0x7f, 0xfc, 0xfc, 0x7f, 
	0xf3, 0x9f, 0xfc, 0x0e, 0x7f, 0xfe, 0x71, 0xf1, 0xf1, 0xcf, 0xf8, 0x3c, 0xff, 0xfc, 0xfc, 0x7f, 
	0xf3, 0x9f, 0xfe, 0x0e, 0x7f, 0xfe, 0x33, 0xf1, 0xf1, 0xc0, 0x00, 0x7c, 0xff, 0xfc, 0xfc, 0x7f, 
	0xf3, 0x9f, 0xff, 0x0e, 0x7f, 0xfe, 0x33, 0xf3, 0xf1, 0xc0, 0x00, 0x7c, 0xff, 0xfc, 0xfc, 0x7f, 
	0xf3, 0x9f, 0xff, 0x0e, 0x7f, 0xfe, 0x71, 0xff, 0xf1, 0xc7, 0xf8, 0x3c, 0xff, 0xfc, 0xfc, 0x7f, 
	0xf3, 0x9f, 0xff, 0x0e, 0x7f, 0xfe, 0x71, 0xff, 0xf1, 0xcf, 0xfe, 0x1c, 0x7f, 0xfc, 0xfc, 0x7f, 
	0xf3, 0x9f, 0xff, 0x8e, 0x7f, 0xfc, 0x79, 0xff, 0xe3, 0xcf, 0xff, 0x1c, 0x7f, 0xf8, 0xfc, 0x7f, 
	0xf3, 0x9f, 0xff, 0x8e, 0x7f, 0xfc, 0xf8, 0xff, 0xe3, 0xcf, 0xff, 0x8e, 0x3f, 0xf9, 0xfc, 0x7f, 
	0xf3, 0x9f, 0xff, 0x8e, 0x7f, 0xf8, 0xfc, 0x7f, 0xc7, 0xcf, 0xff, 0xce, 0x1f, 0xf1, 0xfc, 0x7f, 
	0xf3, 0x9f, 0xff, 0x8e, 0x7f, 0xe1, 0xfe, 0x1f, 0x0f, 0xcf, 0xff, 0xc7, 0x07, 0xc3, 0xfc, 0x7f, 
	0xf3, 0x9f, 0xff, 0x8e, 0x00, 0x03, 0xff, 0x00, 0x1f, 0xc0, 0x00, 0x07, 0xc0, 0x07, 0xfc, 0x7f, 
	0xf3, 0x9f, 0xff, 0x8e, 0x00, 0x0f, 0xff, 0x80, 0x3f, 0xc0, 0x00, 0x07, 0xe0, 0x1f, 0xfc, 0x7f, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xfe, 0x7f, 0xff, 0x87, 0xff, 0xe7, 0xff, 0xc0, 0x7f, 0xfc, 0x03, 0xfe, 0xff, 0x9f, 0xe7, 0xf7, 
	0xfc, 0x7f, 0xfe, 0x01, 0xff, 0xe3, 0xff, 0xc0, 0x1f, 0xfc, 0x03, 0xfe, 0x7f, 0x9f, 0xf3, 0xe7, 
	0xfc, 0x3f, 0xfc, 0x79, 0xff, 0xc3, 0xff, 0xc7, 0x8f, 0xfc, 0xff, 0xfe, 0x3f, 0x1f, 0xf1, 0xcf, 
	0xf9, 0x3f, 0xf8, 0xff, 0xff, 0xc9, 0xff, 0xcf, 0xc7, 0xfc, 0xff, 0xfe, 0x1f, 0x1f, 0xf9, 0xcf, 
	0xf9, 0x9f, 0xf9, 0xff, 0xff, 0x99, 0xff, 0xcf, 0xe7, 0xfc, 0xff, 0xfe, 0x1e, 0x1f, 0xf8, 0x9f, 
	0xf3, 0x9f, 0xf9, 0xff, 0xff, 0x98, 0xff, 0xcf, 0xe7, 0xfc, 0x07, 0xfe, 0x0c, 0x9f, 0xfc, 0x1f, 
	0xf3, 0xcf, 0xf9, 0xff, 0xff, 0x3c, 0xff, 0xcf, 0xe7, 0xfc, 0x07, 0xfe, 0x4c, 0x9f, 0xfe, 0x3f, 
	0xf0, 0x0f, 0xf9, 0xff, 0xff, 0x00, 0xff, 0xcf, 0xe7, 0xfc, 0xff, 0xfe, 0x61, 0x9f, 0xfe, 0x7f, 
	0xe0, 0x07, 0xfc, 0xff, 0xfe, 0x00, 0x7f, 0xcf, 0xc7, 0xfc, 0xff, 0xfe, 0x63, 0x9f, 0xfe, 0x7f, 
	0xe7, 0xe7, 0xfc, 0x79, 0xfe, 0x7e, 0x7f, 0xc7, 0x0f, 0xfc, 0xff, 0xfe, 0x73, 0x9f, 0xfe, 0x7f, 
	0xcf, 0xe7, 0xfe, 0x03, 0xfe, 0x7e, 0x3f, 0xc0, 0x1f, 0xfc, 0x03, 0xfe, 0x7f, 0x9f, 0xfe, 0x7f, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xef, 0xef, 0xff, 0xef, 0x6f, 0xf7, 0xfe, 0xdf, 0xfd, 0xff, 0xff, 0xdf, 0xb7, 0xef, 0x6f, 0xff, 
	0xfd, 0x7f, 0xff, 0xff, 0xef, 0xff, 0xf7, 0xff, 0xfd, 0xff, 0xfe, 0xdf, 0xf6, 0xff, 0xef, 0xff, 
	0xff, 0xff, 0xfc, 0x7f, 0xef, 0xff, 0xed, 0x8f, 0xfd, 0xff, 0xfe, 0xdf, 0xf6, 0x7f, 0xef, 0xff, 
	0xff, 0xe7, 0xff, 0xe7, 0xe7, 0x7f, 0xff, 0xff, 0xff, 0xcf, 0xf9, 0xdf, 0xff, 0xb7, 0xe7, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff
};

void setup()
{
  Serial.begin( 115200);

  Wire.begin();

  // Initialize the OLED display and test if it is connected.
  if( !display.begin( SSD1306_SWITCHCAPVCC, 0x3C)) 
  {
    Serial.println(F( "SSD1306 allocation failed"));
    for(;;);                                   // halt the sketch if error encountered
  }

  // Initialize the MPU-6050 and test if it is connected.
  Wire.beginTransmission( mpuAddress);
  Wire.write( 0x6B);                           // PWR_MGMT_1 register
  Wire.write( 0);                              // set to zero (wakes up the MPU-6050)
  auto error = Wire.endTransmission();
  if( error != 0)
  {
    Serial.println(F( "Error, MPU-6050 not found"));
    for(;;);                                   // halt the sketch if error encountered
  }

  // Initialize the NeoPixel
  neoPixel.begin();

  display.clearDisplay(); //clear sebelum tampilan baru
  display.drawBitmap(0, 0, Logologo_iot, 128, 64, WHITE); 
  display.display(); //tampilkan data
  delay(1000);
}

void loop()
{
  Wire.beginTransmission( mpuAddress);
  Wire.write( 0x3B);                   // Starting with register 0x3B (ACCEL_XOUT_H)
  Wire.endTransmission( false);        // No stop condition for a repeated start

  // The MPU-6050 has the values as signed 16-bit integers.
  // There are 7 values in 14 registers.
  int16_t AcX, AcY, AcZ, Tmp, GyX, GyY, GyZ;

  Wire.requestFrom( mpuAddress, 14);   // request a total of 14 bytes
  AcX = Wire.read()<<8 | Wire.read();  // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)    
  AcY = Wire.read()<<8 | Wire.read();  // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
  AcZ = Wire.read()<<8 | Wire.read();  // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)
  Tmp = Wire.read()<<8 | Wire.read();  // 0x41 (TEMP_OUT_H)   & 0x42 (TEMP_OUT_L)
  GyX = Wire.read()<<8 | Wire.read();  // 0x43 (GYRO_XOUT_H)  & 0x44 (GYRO_XOUT_L)
  GyY = Wire.read()<<8 | Wire.read();  // 0x45 (GYRO_YOUT_H)  & 0x46 (GYRO_YOUT_L)
  GyZ = Wire.read()<<8 | Wire.read();  // 0x47 (GYRO_ZOUT_H)  & 0x48 (GYRO_ZOUT_L)

  // The acceleration is directly mapped into the angles.
  // That is rather artificial.
  // The combined gravity could be used for an angle, while ignoring the strength.
  //
  // The gyro sets the rotation speed.
  // The angle created by the rotation speed is added to angle by the accelerometer.
  //
  // The conversion from the sensor values to the rotation is just a value
  // that makes it look good on the display.

  float xByAccel = (float) AcX * 0.0001;      // static angle by accelerometer
  float yByAccel = (float) AcY * 0.0001;
  float zByAccel = (float) AcZ * 0.0001;

  xByGyro += (float) GyX * 0.00001;           // moving angle by gyro
  yByGyro += (float) GyY * 0.00001;
  zByGyro += (float) GyZ * 0.00001;

  float x = xByAccel + xByGyro;               // combine both angles
  float y = yByAccel + yByGyro;
  float z = zByAccel + zByGyro;

  // Keep the radians in range (although the cos/sin functions accept every value)
  if( x < 0.0)
    x += 2.0 * M_PI;
  else if( x > 2.0 * M_PI)
    x -= 2.0 * M_PI;
  if( y < 0.0)
    y += 2.0 * M_PI;
  else if( y > 2.0 * M_PI)
    y -= 2.0 * M_PI;
  if( z < 0.0)
    z += 2.0 * M_PI;
  else if( z > 2.0 * M_PI)
    z -= 2.0 * M_PI;

  // Draw 3D picture
  for (int i = 0; i < NUM_VERTICES; i++) 
  {
    // Rotate Y
    float rotx = cube_vertex[i][2] * sin(y) + cube_vertex[i][0] * cos(y);
    float roty = cube_vertex[i][1];
    float rotz = cube_vertex[i][2] * cos(y) - cube_vertex[i][0] * sin(y);

    // Rotate X
    float rotxx = rotx;
    float rotyy = roty * cos(x) - rotz * sin(x);
    float rotzz = roty * sin(x) + rotz * cos(x);

    // Rotate Z
    float rotxxx = rotxx * cos(z) - rotyy * sin(z);
    float rotyyy = rotxx * sin(z) + rotyy * cos(z);
    float rotzzz = rotzz;

    // Add depth perspective
    rotxxx *= viewDistance / (viewDistance + rotzzz);
    rotyyy *= viewDistance / (viewDistance + rotzzz);

    // Bring to middle of screen
    rotxxx += (float) xOrigin;
    rotyyy += (float) yOrigin;

    // Store new vertices values for wireframe drawing
    wireframe[i][0] = (int) rotxxx;
    wireframe[i][1] = (int) rotyyy;
    wireframe[i][2] = (int) rotzzz;
  }
  draw_wireframe();

  // Set the color of the NeoPixel according to the temperature
  // Temperature by the MPU-6050 is -40 to 85.
  // According to the datasheet:
  //   Temperature in Celsius = (raw_value / 340) + 36.53
  // The Hue range for the NeoPixel is the full uint16_t range.
  float Celsius = ((float) Tmp / 340.00) + 36.53;
  float hue = (Celsius + 40.0) / 125.0 * 65535.0;
  uint32_t rgbcolor = neoPixel.ColorHSV( (uint16_t) hue);
  neoPixel.setPixelColor( 0, rgbcolor);
  neoPixel.show();                        // update new values to NeoPixel
}

void draw_wireframe(void)
{
  // Start with a empty buffer
  display.clearDisplay();

  // A cube has 8 points and 12 sides.
  // The wireframe contains the 8 points, and the 12 lines are drawn here.
  display.drawLine( wireframe[0][0], wireframe[0][1], wireframe[1][0], wireframe[1][1], SSD1306_WHITE);
  display.drawLine( wireframe[1][0], wireframe[1][1], wireframe[2][0], wireframe[2][1], SSD1306_WHITE);
  display.drawLine( wireframe[2][0], wireframe[2][1], wireframe[3][0], wireframe[3][1], SSD1306_WHITE);
  display.drawLine( wireframe[3][0], wireframe[3][1], wireframe[0][0], wireframe[0][1], SSD1306_WHITE);

  display.drawLine( wireframe[4][0], wireframe[4][1], wireframe[5][0], wireframe[5][1], SSD1306_WHITE);
  display.drawLine( wireframe[5][0], wireframe[5][1], wireframe[6][0], wireframe[6][1], SSD1306_WHITE);
  display.drawLine( wireframe[6][0], wireframe[6][1], wireframe[7][0], wireframe[7][1], SSD1306_WHITE);
  display.drawLine( wireframe[7][0], wireframe[7][1], wireframe[4][0], wireframe[4][1], SSD1306_WHITE);

  display.drawLine( wireframe[0][0], wireframe[0][1], wireframe[4][0], wireframe[4][1], SSD1306_WHITE);
  display.drawLine( wireframe[1][0], wireframe[1][1], wireframe[5][0], wireframe[5][1], SSD1306_WHITE);
  display.drawLine( wireframe[2][0], wireframe[2][1], wireframe[6][0], wireframe[6][1], SSD1306_WHITE);
  display.drawLine( wireframe[3][0], wireframe[3][1], wireframe[7][0], wireframe[7][1], SSD1306_WHITE);

  // Extra cross face on one side
  display.drawLine( wireframe[1][0], wireframe[1][1], wireframe[3][0], wireframe[3][1], SSD1306_WHITE);
  display.drawLine( wireframe[0][0], wireframe[0][1], wireframe[2][0], wireframe[2][1], SSD1306_WHITE);

  // Write the new picture to the display
  display.display();
}

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//Kombinasi 4 (GYROSCOPE + OLED)

//Menampilkan Logo Indobot Academy lalu Gerak Gyroscope

//Tampilan di OLED

//Link Wokwi : https://wokwi.com/projects/334566716332835412

#include <Wire.h>

#include <Adafruit_SSD1306.h>

#include <Adafruit_GFX.h>

#include <Adafruit_NeoPixel.h>

Adafruit_SSD1306 display( 128, 64); // 128 pixels width, 64 pixels height

#define LED_PIN 6

#define LED_COUNT 1

Adafruit_NeoPixel neoPixel( LED_COUNT, LED_PIN, NEO_GRB + NEO_KHZ800);

const int mpuAddress = 0x68; // I2C address of the MPU-6050

float xByGyro, yByGyro, zByGyro; // Global variables for the rotation by gyro

// Set the origin in the middle of the display

const int xOrigin = 64;

const int yOrigin = 32;

const float viewDistance = 150.0; // higher for less perspective, lower for more.

// Vertices for a cube

// A cube has 8 corners and each coordinate has x,y,z values.

#define NUM_VERTICES 8

const int cube_vertex[NUM_VERTICES][3] =

{

{ -20, -20, 20 }, // x, y, z

{ 20, -20, 20 },

{ 20, 20, 20 },

{ -20, 20, 20 },

{ -20, -20, -20 },

{ 20, -20, -20 },

{ 20, 20, -20 },

{ -20, 20, -20 }

};

// The wirefram is to display the lines on the OLED display

// It contains the corners of the shape in 2D coordinates

int wireframe[NUM_VERTICES][2];

// 'logo-iot', 128x64pxA

const unsigned char Logologo_iot [] PROGMEM = {

0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,

0xf3, 0x80, 0xff, 0x8e, 0x00, 0x0f, 0xff, 0xf3, 0xff, 0xc0, 0x00, 0x07, 0xe0, 0x1f, 0x80, 0x01,

0xf3, 0x80, 0x3f, 0x8e, 0x00, 0x03, 0xff, 0x71, 0xdf, 0xc0, 0x00, 0x07, 0xc0, 0x0f, 0x80, 0x01,

0xf3, 0x9c, 0x0f, 0x8e, 0x7f, 0xe1, 0xfe, 0x71, 0xcf, 0xcf, 0xff, 0xc7, 0x87, 0x83, 0xfc, 0x7f,

0xf3, 0x9f, 0x83, 0x8e, 0x7f, 0xf0, 0xfc, 0x71, 0xc7, 0xcf, 0xff, 0xcf, 0x1f, 0xe1, 0xfc, 0x7f,

0xf3, 0x9f, 0xe1, 0x8e, 0x7f, 0xfc, 0xf8, 0xf1, 0xe7, 0xcf, 0xff, 0x8e, 0x3f, 0xf1, 0xfc, 0x7f,

0xf3, 0x9f, 0xf0, 0x8e, 0x7f, 0xfc, 0x78, 0xf1, 0xe3, 0xcf, 0xff, 0x9e, 0x7f, 0xf8, 0xfc, 0x7f,

0xf3, 0x9f, 0xf8, 0x8e, 0x7f, 0xfe, 0x71, 0xf1, 0xf3, 0xcf, 0xff, 0x1c, 0x7f, 0xfc, 0xfc, 0x7f,

0xf3, 0x9f, 0xfc, 0x0e, 0x7f, 0xfe, 0x71, 0xf1, 0xf1, 0xcf, 0xf8, 0x3c, 0xff, 0xfc, 0xfc, 0x7f,

0xf3, 0x9f, 0xfe, 0x0e, 0x7f, 0xfe, 0x33, 0xf1, 0xf1, 0xc0, 0x00, 0x7c, 0xff, 0xfc, 0xfc, 0x7f,

0xf3, 0x9f, 0xff, 0x0e, 0x7f, 0xfe, 0x33, 0xf3, 0xf1, 0xc0, 0x00, 0x7c, 0xff, 0xfc, 0xfc, 0x7f,

0xf3, 0x9f, 0xff, 0x0e, 0x7f, 0xfe, 0x71, 0xff, 0xf1, 0xc7, 0xf8, 0x3c, 0xff, 0xfc, 0xfc, 0x7f,

0xf3, 0x9f, 0xff, 0x0e, 0x7f, 0xfe, 0x71, 0xff, 0xf1, 0xcf, 0xfe, 0x1c, 0x7f, 0xfc, 0xfc, 0x7f,

0xf3, 0x9f, 0xff, 0x8e, 0x7f, 0xfc, 0x79, 0xff, 0xe3, 0xcf, 0xff, 0x1c, 0x7f, 0xf8, 0xfc, 0x7f,

0xf3, 0x9f, 0xff, 0x8e, 0x7f, 0xfc, 0xf8, 0xff, 0xe3, 0xcf, 0xff, 0x8e, 0x3f, 0xf9, 0xfc, 0x7f,

0xf3, 0x9f, 0xff, 0x8e, 0x7f, 0xf8, 0xfc, 0x7f, 0xc7, 0xcf, 0xff, 0xce, 0x1f, 0xf1, 0xfc, 0x7f,

0xf3, 0x9f, 0xff, 0x8e, 0x7f, 0xe1, 0xfe, 0x1f, 0x0f, 0xcf, 0xff, 0xc7, 0x07, 0xc3, 0xfc, 0x7f,

0xf3, 0x9f, 0xff, 0x8e, 0x00, 0x03, 0xff, 0x00, 0x1f, 0xc0, 0x00, 0x07, 0xc0, 0x07, 0xfc, 0x7f,

0xf3, 0x9f, 0xff, 0x8e, 0x00, 0x0f, 0xff, 0x80, 0x3f, 0xc0, 0x00, 0x07, 0xe0, 0x1f, 0xfc, 0x7f,

0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,

0xfe, 0x7f, 0xff, 0x87, 0xff, 0xe7, 0xff, 0xc0, 0x7f, 0xfc, 0x03, 0xfe, 0xff, 0x9f, 0xe7, 0xf7,

0xfc, 0x7f, 0xfe, 0x01, 0xff, 0xe3, 0xff, 0xc0, 0x1f, 0xfc, 0x03, 0xfe, 0x7f, 0x9f, 0xf3, 0xe7,

0xfc, 0x3f, 0xfc, 0x79, 0xff, 0xc3, 0xff, 0xc7, 0x8f, 0xfc, 0xff, 0xfe, 0x3f, 0x1f, 0xf1, 0xcf,

0xf9, 0x3f, 0xf8, 0xff, 0xff, 0xc9, 0xff, 0xcf, 0xc7, 0xfc, 0xff, 0xfe, 0x1f, 0x1f, 0xf9, 0xcf,

0xf9, 0x9f, 0xf9, 0xff, 0xff, 0x99, 0xff, 0xcf, 0xe7, 0xfc, 0xff, 0xfe, 0x1e, 0x1f, 0xf8, 0x9f,

0xf3, 0x9f, 0xf9, 0xff, 0xff, 0x98, 0xff, 0xcf, 0xe7, 0xfc, 0x07, 0xfe, 0x0c, 0x9f, 0xfc, 0x1f,

0xf3, 0xcf, 0xf9, 0xff, 0xff, 0x3c, 0xff, 0xcf, 0xe7, 0xfc, 0x07, 0xfe, 0x4c, 0x9f, 0xfe, 0x3f,

0xf0, 0x0f, 0xf9, 0xff, 0xff, 0x00, 0xff, 0xcf, 0xe7, 0xfc, 0xff, 0xfe, 0x61, 0x9f, 0xfe, 0x7f,

0xe0, 0x07, 0xfc, 0xff, 0xfe, 0x00, 0x7f, 0xcf, 0xc7, 0xfc, 0xff, 0xfe, 0x63, 0x9f, 0xfe, 0x7f,

0xe7, 0xe7, 0xfc, 0x79, 0xfe, 0x7e, 0x7f, 0xc7, 0x0f, 0xfc, 0xff, 0xfe, 0x73, 0x9f, 0xfe, 0x7f,

0xcf, 0xe7, 0xfe, 0x03, 0xfe, 0x7e, 0x3f, 0xc0, 0x1f, 0xfc, 0x03, 0xfe, 0x7f, 0x9f, 0xfe, 0x7f,

0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,

0xef, 0xef, 0xff, 0xef, 0x6f, 0xf7, 0xfe, 0xdf, 0xfd, 0xff, 0xff, 0xdf, 0xb7, 0xef, 0x6f, 0xff,

0xfd, 0x7f, 0xff, 0xff, 0xef, 0xff, 0xf7, 0xff, 0xfd, 0xff, 0xfe, 0xdf, 0xf6, 0xff, 0xef, 0xff,

0xff, 0xff, 0xfc, 0x7f, 0xef, 0xff, 0xed, 0x8f, 0xfd, 0xff, 0xfe, 0xdf, 0xf6, 0x7f, 0xef, 0xff,

0xff, 0xe7, 0xff, 0xe7, 0xe7, 0x7f, 0xff, 0xff, 0xff, 0xcf, 0xf9, 0xdf, 0xff, 0xb7, 0xe7, 0xff,

0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,

0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff

};

void setup()

{

Serial.begin( 115200);

Wire.begin();

// Initialize the OLED display and test if it is connected.

if( !display.begin( SSD1306_SWITCHCAPVCC, 0x3C))

{

Serial.println(F( "SSD1306 allocation failed"));

for(;;); // halt the sketch if error encountered

}

// Initialize the MPU-6050 and test if it is connected.

Wire.beginTransmission( mpuAddress);

Wire.write( 0x6B); // PWR_MGMT_1 register

Wire.write( 0); // set to zero (wakes up the MPU-6050)

auto error = Wire.endTransmission();

if( error != 0)

{

Serial.println(F( "Error, MPU-6050 not found"));

for(;;); // halt the sketch if error encountered

}

// Initialize the NeoPixel

neoPixel.begin();

display.clearDisplay(); //clear sebelum tampilan baru

display.drawBitmap(0, 0, Logologo_iot, 128, 64, WHITE);

display.display(); //tampilkan data

delay(1000);

}

void loop()

{

Wire.beginTransmission( mpuAddress);

Wire.write( 0x3B); // Starting with register 0x3B (ACCEL_XOUT_H)

Wire.endTransmission( false); // No stop condition for a repeated start

// The MPU-6050 has the values as signed 16-bit integers.

// There are 7 values in 14 registers.

int16_t AcX, AcY, AcZ, Tmp, GyX, GyY, GyZ;

Wire.requestFrom( mpuAddress, 14); // request a total of 14 bytes

AcX = Wire.read()<<8 | Wire.read(); // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)

AcY = Wire.read()<<8 | Wire.read(); // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)

AcZ = Wire.read()<<8 | Wire.read(); // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)

Tmp = Wire.read()<<8 | Wire.read(); // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L)

GyX = Wire.read()<<8 | Wire.read(); // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)

GyY = Wire.read()<<8 | Wire.read(); // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)

GyZ = Wire.read()<<8 | Wire.read(); // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)

// The acceleration is directly mapped into the angles.

// That is rather artificial.

// The combined gravity could be used for an angle, while ignoring the strength.

// The gyro sets the rotation speed.

// The angle created by the rotation speed is added to angle by the accelerometer.

// The conversion from the sensor values to the rotation is just a value

// that makes it look good on the display.

float xByAccel = (float) AcX * 0.0001; // static angle by accelerometer

float yByAccel = (float) AcY * 0.0001;

float zByAccel = (float) AcZ * 0.0001;

xByGyro += (float) GyX * 0.00001; // moving angle by gyro

yByGyro += (float) GyY * 0.00001;

zByGyro += (float) GyZ * 0.00001;

float x = xByAccel + xByGyro; // combine both angles

float y = yByAccel + yByGyro;

float z = zByAccel + zByGyro;

// Keep the radians in range (although the cos/sin functions accept every value)

if( x < 0.0)

x += 2.0 * M_PI;

else if( x > 2.0 * M_PI)

x -= 2.0 * M_PI;

if( y < 0.0)

y += 2.0 * M_PI;

else if( y > 2.0 * M_PI)

y -= 2.0 * M_PI;

if( z < 0.0)

z += 2.0 * M_PI;

else if( z > 2.0 * M_PI)

z -= 2.0 * M_PI;

// Draw 3D picture

for (int i = 0; i < NUM_VERTICES; i++)

{

// Rotate Y

float rotx = cube_vertex[i][2] * sin(y) + cube_vertex[i][0] * cos(y);

float roty = cube_vertex[i][1];

float rotz = cube_vertex[i][2] * cos(y) - cube_vertex[i][0] * sin(y);

// Rotate X

float rotxx = rotx;

float rotyy = roty * cos(x) - rotz * sin(x);

float rotzz = roty * sin(x) + rotz * cos(x);

// Rotate Z

float rotxxx = rotxx * cos(z) - rotyy * sin(z);

float rotyyy = rotxx * sin(z) + rotyy * cos(z);

float rotzzz = rotzz;

// Add depth perspective

rotxxx *= viewDistance / (viewDistance + rotzzz);

rotyyy *= viewDistance / (viewDistance + rotzzz);

// Bring to middle of screen

rotxxx += (float) xOrigin;

rotyyy += (float) yOrigin;

// Store new vertices values for wireframe drawing

wireframe[i][0] = (int) rotxxx;

wireframe[i][1] = (int) rotyyy;

wireframe[i][2] = (int) rotzzz;

}

draw_wireframe();

// Set the color of the NeoPixel according to the temperature

// Temperature by the MPU-6050 is -40 to 85.

// According to the datasheet:

// Temperature in Celsius = (raw_value / 340) + 36.53

// The Hue range for the NeoPixel is the full uint16_t range.

float Celsius = ((float) Tmp / 340.00) + 36.53;

float hue = (Celsius + 40.0) / 125.0 * 65535.0;

uint32_t rgbcolor = neoPixel.ColorHSV( (uint16_t) hue);

neoPixel.setPixelColor( 0, rgbcolor);

neoPixel.show(); // update new values to NeoPixel

}

void draw_wireframe(void)

{

// Start with a empty buffer

display.clearDisplay();

// A cube has 8 points and 12 sides.

// The wireframe contains the 8 points, and the 12 lines are drawn here.

display.drawLine( wireframe[0][0], wireframe[0][1], wireframe[1][0], wireframe[1][1], SSD1306_WHITE);

display.drawLine( wireframe[1][0], wireframe[1][1], wireframe[2][0], wireframe[2][1], SSD1306_WHITE);

display.drawLine( wireframe[2][0], wireframe[2][1], wireframe[3][0], wireframe[3][1], SSD1306_WHITE);

display.drawLine( wireframe[3][0], wireframe[3][1], wireframe[0][0], wireframe[0][1], SSD1306_WHITE);

display.drawLine( wireframe[4][0], wireframe[4][1], wireframe[5][0], wireframe[5][1], SSD1306_WHITE);

display.drawLine( wireframe[5][0], wireframe[5][1], wireframe[6][0], wireframe[6][1], SSD1306_WHITE);

display.drawLine( wireframe[6][0], wireframe[6][1], wireframe[7][0], wireframe[7][1], SSD1306_WHITE);

display.drawLine( wireframe[7][0], wireframe[7][1], wireframe[4][0], wireframe[4][1], SSD1306_WHITE);

display.drawLine( wireframe[0][0], wireframe[0][1], wireframe[4][0], wireframe[4][1], SSD1306_WHITE);

display.drawLine( wireframe[1][0], wireframe[1][1], wireframe[5][0], wireframe[5][1], SSD1306_WHITE);

display.drawLine( wireframe[2][0], wireframe[2][1], wireframe[6][0], wireframe[6][1], SSD1306_WHITE);

display.drawLine( wireframe[3][0], wireframe[3][1], wireframe[7][0], wireframe[7][1], SSD1306_WHITE);

// Extra cross face on one side

display.drawLine( wireframe[1][0], wireframe[1][1], wireframe[3][0], wireframe[3][1], SSD1306_WHITE);

display.drawLine( wireframe[0][0], wireframe[0][1], wireframe[2][0], wireframe[2][1], SSD1306_WHITE);

// Write the new picture to the display

display.display();

}

אתרים של רכיבים :

AS7265

גירוסקופ , אקסלומטר – גימבל – מערכות יצוב

MPU6050

סוגי משתנים :

שימוש במחרוזות

ניגוון יונתן הקטן

בניית מקליט “מנגינה” (פשוט) תרגיל כיתה

uart

I2C

אולי תאהב/י גם

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