{"id":262548,"date":"2015-07-29T17:18:02","date_gmt":"2015-07-29T13:18:02","guid":{"rendered":"http:\/\/savepearlharbor.com\/?p=262548"},"modified":"-0001-11-30T00:00:00","modified_gmt":"-0001-11-29T21:00:00","slug":"","status":"publish","type":"post","link":"https:\/\/savepearlharbor.com\/?p=262548","title":{"rendered":"\u041d\u043e\u0441\u043e\u043a \u043a\u0438\u0431\u043e\u0440\u0433 \u0432\u0430\u0448 \u0442\u0440\u0435\u043d\u0435\u0440 \u0438 \u0434\u0440\u0443\u0433"},"content":{"rendered":"<p>     \t<img decoding=\"async\" src=\"https:\/\/habrastorage.org\/files\/0b2\/714\/66a\/0b271466aed841f192b0901223418364.png\"\/><br \/>  \u0427\u0435\u043b\u043e\u0432\u0435\u043a\u0443 \u043d\u0443\u0436\u043d\u043e \u0434\u0432\u0438\u0433\u0430\u0442\u044c\u0441\u044f, \u0430 \u0440\u0430\u0431\u043e\u0442\u0430\u044f, \u044f \u043f\u043e\u0441\u0442\u043e\u044f\u043d\u043d\u043e \u0438\u043b\u0438 \u0441\u0438\u0436\u0443, \u0438\u043b\u0438 \u043b\u0435\u0436\u0443. \u041f\u043e\u044d\u0442\u043e\u043c\u0443 \u0431\u044b\u0432\u0430\u0435\u0442 \u044f \u043f\u043e\u0434\u043d\u0438\u043c\u0430\u044e \u043d\u043e\u0433\u0438, \u043d\u043e \u0442\u0443\u0442 \u0435\u0441\u0442\u044c \u043f\u0440\u043e\u0431\u043b\u0435\u043c\u0430. \u042f \u0441\u0447\u0438\u0442\u0430\u044e \u0441\u043a\u043e\u043b\u044c\u043a\u043e \u0440\u0430\u0437 \u043f\u043e\u0434\u043d\u044f\u043b \u043d\u043e\u0433\u0438, \u0430 \u043a\u043e\u0433\u0434\u0430 \u044f \u0441\u0447\u0438\u0442\u0430\u044e, \u0442\u043e \u044f \u043d\u0435 \u043c\u043e\u0433\u0443 \u0440\u0430\u0437\u0433\u043e\u0432\u0430\u0440\u0438\u0432\u0430\u0442\u044c \u0438\u043b\u0438 \u0441\u043c\u043e\u0442\u0440\u0435\u0442\u044c \u0432\u043d\u0438\u043c\u0430\u0442\u0435\u043b\u044c\u043d\u043e \u043a\u0438\u043d\u043e. \u0421\u0438\u0442\u0443\u0430\u0446\u0438\u044f \u0441\u0442\u0430\u043b\u0430 \u043a\u0440\u0438\u0442\u0438\u0447\u043d\u043e\u0439, \u043a\u043e\u0433\u0434\u0430 \u044f \u0440\u0435\u0448\u0438\u043b \u0434\u043e\u0441\u043c\u043e\u0442\u0440\u0435\u0442\u044c \u043f\u043e\u0441\u043b\u0435\u0434\u043d\u0438\u0438 \u0441\u0435\u0440\u0438\u0438 \u041d\u0430\u0440\u0443\u0442\u043e. \u041f\u043e\u044d\u0442\u043e\u043c\u0443 \u044f \u0441\u043e\u0437\u0434\u0430\u043b \u0435\u0433\u043e!<br \/>  <iframe loading=\"lazy\" width=\"560\" height=\"349\" src=\"\/\/www.youtube.com\/embed\/5VAaSTWe0EU?wmode=opaque\" frameborder=\"0\" allowfullscreen><\/iframe><br \/>  <a name=\"habracut\"><\/a>  <\/p>\n<h4>\u0427\u0442\u043e \u043d\u0430\u043c \u043d\u0430\u0434\u043e?<\/h4>\n<p>  <\/p>\n<ul>\n<li>\u041d\u043e\u0441\u043e\u043a<\/li>\n<li>\u041f\u0440\u043e\u0432\u043e\u0434\u0430<\/li>\n<li>\u0410\u0440\u0434\u0443\u0438\u043d\u0430<\/li>\n<li>MPU-6050 (GY-521) \u2014 \u0441\u0430\u043c\u044b\u0439 \u0434\u0435\u0448\u0435\u0432\u044b\u0439 \u0438 \u0431\u0435\u0441\u043f\u043e\u043b\u0435\u0437\u043d\u044b\u0439 \u0433\u0438\u0440\u043e\u0441\u043a\u043e\u043f+\u0430\u043a\u0441\u0435\u043b\u0435\u0440\u043e\u043c\u0435\u0442\u0440 $1.80, \u043d\u043e \u043d\u0430 \u043d\u043e\u0441\u043a\u0435 \u0440\u0430\u0431\u043e\u0442\u0430\u0435\u0442 \u043d\u0430 5<\/li>\n<li>\u041d\u043e\u0443\u0442\u0431\u0443\u043a \u0441 \u043f\u0440\u043e\u0433\u0440\u0430\u043c\u043c\u043e\u0439 \u043d\u0430 Go<\/li>\n<\/ul>\n<p>  \u041f\u0435\u0440\u0432\u044b\u043c \u0434\u0435\u043b\u043e\u043c \u043d\u0430\u0434\u043e \u0441\u043e\u0435\u0434\u0438\u043d\u0438\u0442\u044c MPU-6050 c \u0430\u0440\u0434\u0443\u0438\u043d\u043e \u043f\u043e I2C, \u0438 \u043f\u043e\u0442\u043e\u043c \u0437\u0430\u0433\u0440\u0443\u0437\u0438\u0442\u044c \u0441\u043a\u0435\u0442\u0447 \u0441 <a href=\"http:\/\/playground.arduino.cc\/Main\/MPU-6050\">Arduino Playground<\/a> \u0434\u043b\u044f MPU-6050.<\/p>\n<pre><code class=\"cpp\">\/\/ MPU-6050 Short Example Sketch \/\/ By Arduino User JohnChi \/\/ August 17, 2014 \/\/ Public Domain #include&lt;Wire.h&gt; const int MPU=0x68;  \/\/ I2C address of the MPU-6050 int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ; void setup(){   Wire.begin();   Wire.beginTransmission(MPU);   Wire.write(0x6B);  \/\/ PWR_MGMT_1 register   Wire.write(0);     \/\/ set to zero (wakes up the MPU-6050)   Wire.endTransmission(true);   Serial.begin(57600); } void loop(){   Wire.beginTransmission(MPU);   Wire.write(0x3B);  \/\/ starting with register 0x3B (ACCEL_XOUT_H)   Wire.endTransmission(false);   Wire.requestFrom(MPU,14,true);  \/\/ request a total of 14 registers   AcX=Wire.read()&lt;&lt;8|Wire.read();  \/\/ 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)       AcY=Wire.read()&lt;&lt;8|Wire.read();  \/\/ 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)   AcZ=Wire.read()&lt;&lt;8|Wire.read();  \/\/ 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)   Tmp=Wire.read()&lt;&lt;8|Wire.read();  \/\/ 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L)   GyX=Wire.read()&lt;&lt;8|Wire.read();  \/\/ 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)   GyY=Wire.read()&lt;&lt;8|Wire.read();  \/\/ 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)   GyZ=Wire.read()&lt;&lt;8|Wire.read();  \/\/ 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)   Serial.print(&quot;AcX = &quot;); Serial.print(AcX);   Serial.print(&quot; | AcY = &quot;); Serial.print(AcY);   Serial.print(&quot; | AcZ = &quot;); Serial.print(AcZ);   Serial.print(&quot; | Tmp = &quot;); Serial.print(Tmp\/340.00+36.53);  \/\/equation for temperature in degrees C from datasheet   Serial.print(&quot; | GyX = &quot;); Serial.print(GyX);   Serial.print(&quot; | GyY = &quot;); Serial.print(GyY);   Serial.print(&quot; | GyZ = &quot;); Serial.println(GyZ);   delay(333); } <\/code><\/pre>\n<p>  \u0423 \u043c\u0435\u043d\u044f \u0430\u0440\u0434\u0443\u0438\u043d\u0430 \u043f\u0440\u0438 \u043f\u043e\u0434\u043a\u043b\u044e\u0447\u0435\u043d\u0438\u0438 \u043e\u0442\u043e\u0431\u0440\u0430\u0436\u0430\u0435\u0442\u0441\u044f \u043a\u0430\u043a <b>\/dev\/ttyUSB0<\/b>, \u043d\u0430 \u0432\u0438\u043d\u0434\u0435 \u044d\u0442\u043e \u0431\u0443\u0434\u0435\u0442 COM c \u043a\u0430\u043a\u0438\u043c-\u0442\u043e \u0447\u0438\u0441\u043b\u043e\u043c.<\/p>\n<p>  \u0412\u043e\u0442 \u043c\u043e\u044f \u043f\u0440\u043e\u0433\u0440\u0430\u043c\u043c\u0430 \u043d\u0430 Go. \u0414\u043b\u044f \u043f\u0440\u043e\u0438\u0433\u0440\u044b\u0432\u0430\u043d\u0438\u044f \u0437\u0432\u0443\u043a\u043e\u0432 \u044f \u0432\u044b\u0437\u044b\u0432\u0430\u044e \u043f\u0440\u043e\u0433\u0440\u0430\u043c\u043c\u0443 <b>play<\/b>, \u043a\u043e\u0442\u043e\u0440\u043e\u0439 \u0443 \u0432\u0430\u0441 \u043c\u043e\u0436\u0435\u0442 \u043d\u0435 \u0431\u044b\u0442\u044c, \u043d\u043e \u0442\u043e\u0433\u0434\u0430 \u0438 \u0437\u0432\u0443\u043a\u043e\u0432 \u043d\u0435 \u0431\u0443\u0434\u0435\u0442. \u0401\u0451 \u043c\u043e\u0436\u043d\u043e \u0437\u0430\u043c\u0435\u043d\u0438\u0442\u044c \u043d\u0430 \u0434\u0440\u0443\u0433\u0443\u044e \u0434\u043e\u0441\u0442\u0443\u043f\u043d\u0443\u044e \u0432\u0430\u043c \u043f\u0440\u043e\u0433\u0440\u0430\u043c\u043c\u0443.<\/p>\n<pre><code class=\"go\">package main  import ( \t&quot;fmt&quot; \t&quot;math&quot; \t&quot;os\/exec&quot; \t&quot;strings&quot;  \t&quot;github.com\/CossackPyra\/pyraconv&quot; \t&quot;github.com\/tarm\/serial&quot; )  var ( \tinited     bool = false \tstartAngle float64 \tstate      int = 0 \tcounter        = 0 )  func main() {  \tc := &serial.Config{Name: &quot;\/dev\/ttyUSB0&quot;, Baud: 57600} \ts, err := serial.OpenPort(c) \tpanicer(err)  \tvar b1 []byte  \tbuf := make([]byte, 128) \tfor { \t\tn, err := s.Read(buf) \t\tpanicer(err) \t\t\/\/ fmt.Println(n) \t\t\/\/ fmt.Print(string(buf[:n])) \t\tlen1 := len(b1) \t\tb1 = append(b1, buf[:n]...) \t\tpos1 := -1 \t\tfor i1, by1 := range buf[:n] { \t\t\tif by1 == 10 { \t\t\t\tpos1 = i1 \t\t\t\tbreak \t\t\t} \t\t} \t\tif pos1 != -1 { \t\t\tb2 := b1[:len1+pos1] \t\t\tb1 = b1[len1+pos1+1:] \t\t\ts1 := string(b2) \t\t\t\/\/ fmt.Println(ss1) \t\t\tss1 := strings.Split(s1, &quot; | &quot;) \t\t\tif len(ss1) &lt; 7 { \t\t\t\tcontinue \t\t\t} \t\t\tm1 := make(map[string]string) \t\t\tfor _, s2 := range ss1 { \t\t\t\tss2 := strings.Split(s2, &quot; = &quot;) \t\t\t\tif len(ss2) &lt; 2 { \t\t\t\t\tcontinue \t\t\t\t} \t\t\t\tm1[ss2[0]] = ss2[1] \t\t\t} \t\t\tif len(m1) &lt; 7 { \t\t\t\tcontinue \t\t\t} \t\t\tm2 := make(map[string]int) \t\t\tfor k1, v1 := range m1 { \t\t\t\tm2[k1] = int(pyraconv.ToInt64(v1)) \t\t\t} \t\t\tprocessMap(m2) \t\t} \t}  }  func processMap(m1 map[string]int) { \tangle := math.Atan2(float64(m1[&quot;AcX&quot;]), float64(m1[&quot;AcY&quot;])) \/ math.Pi * 180.0 \tdelta := angle - startAngle \tif delta &gt; 180.0 { \t\tdelta -= 360.0 \t} \tif delta &lt; -180.0 { \t\tdelta += 360.0 \t} \t\/\/ fmt.Printf(&quot;%f %f %d %d %d %d %d %d\\n&quot;, angle, delta, m1[&quot;AcX&quot;], m1[&quot;AcY&quot;], m1[&quot;AcZ&quot;], m1[&quot;GyX&quot;], m1[&quot;GyY&quot;], m1[&quot;GyZ&quot;]) \tif !inited { \t\tinited = true \t\tstartAngle = angle \t\tstate = 0 \t\treturn \t}  \tif state == 0 { \t\tif delta &gt; 60.0 { \t\t\tstate = 1 \t\t\tup() \t\t} \t\tif delta &lt; -60.0 { \t\t\tstate = -1 \t\t\tup() \t\t} \t} \tif state == 1 { \t\tif delta &lt; 30.0 { \t\t\tstate = 0 \t\t\tdown() \t\t} \t} \tif state == -1 { \t\tif delta &gt; -30.0 { \t\t\tstate = 0 \t\t\tdown() \t\t} \t} }  func up() { \tfmt.Println(&quot;UP&quot;) }  func down() { \tcounter++ \tfmt.Println(&quot;DOWN &quot;, counter) \tif counter%100 == 0 { \t\texec.Command(&quot;play&quot;, &quot;~\/my\/applications\/platformerFX\/OGG\/speedup.ogg&quot;).Output() \t} else if counter%50 == 0 { \t\texec.Command(&quot;play&quot;, &quot;~\/my\/applications\/platformerFX\/OGG\/checkpoint.ogg&quot;).Output() \t} else if counter%20 == 0 { \t\texec.Command(&quot;play&quot;, &quot;~\/my\/applications\/platformerFX\/OGG\/collect1_score1.ogg&quot;).Output() \t} else { \t\texec.Command(&quot;play&quot;, &quot;~\/my\/applications\/platformerFX\/OGG\/button1.ogg&quot;).Output() \t} }  func panicer(err error) { \tif err != nil { \t\tpanic(err) \t} } <\/code><\/pre>\n<p>  \u0420\u0430\u0437\u0440\u0430\u0431\u043e\u0442\u043a\u043e\u0439 \u044f \u043e\u0447\u0435\u043d\u044c \u0434\u043e\u0432\u043e\u043b\u0435\u043d. \u0421\u0434\u0435\u043b\u0430\u0442\u044c \u044d\u0442\u043e \u0432\u0441\u0435 \u043c\u043e\u0436\u043d\u043e \u0434\u043e\u0441\u0442\u0430\u0442\u043e\u0447\u043d\u043e \u0431\u044b\u0441\u0442\u0440\u043e, \u0430 \u0442\u0430\u043a \u043a\u0430\u043a \u043a\u043e\u0434 \u0443 \u0432\u0430\u0441 \u0435\u0441\u0442\u044c, \u0442\u043e \u0435\u0449\u0435 \u0431\u044b\u0441\u0442\u0440\u0435\u0439! <\/p>\n<p>  \u0411\u0443\u0434\u044c\u0442\u0435 \u0437\u0434\u043e\u0440\u043e\u0432\u044b, \u0437\u0430\u043d\u0438\u043c\u0430\u0439\u0442\u0435\u0441\u044c \u0441\u043f\u043e\u0440\u0442\u043e\u043c.     \t<\/p>\n<div class=\"clear\"><\/div>\n<p> \u0441\u0441\u044b\u043b\u043a\u0430 \u043d\u0430 \u043e\u0440\u0438\u0433\u0438\u043d\u0430\u043b \u0441\u0442\u0430\u0442\u044c\u0438 <a href=\"http:\/\/habrahabr.ru\/post\/263803\/\"> http:\/\/habrahabr.ru\/post\/263803\/<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>     \t<img decoding=\"async\" src=\"https:\/\/habrastorage.org\/files\/0b2\/714\/66a\/0b271466aed841f192b0901223418364.png\"\/><br \/>  \u0427\u0435\u043b\u043e\u0432\u0435\u043a\u0443 \u043d\u0443\u0436\u043d\u043e \u0434\u0432\u0438\u0433\u0430\u0442\u044c\u0441\u044f, \u0430 \u0440\u0430\u0431\u043e\u0442\u0430\u044f, \u044f \u043f\u043e\u0441\u0442\u043e\u044f\u043d\u043d\u043e \u0438\u043b\u0438 \u0441\u0438\u0436\u0443, \u0438\u043b\u0438 \u043b\u0435\u0436\u0443. \u041f\u043e\u044d\u0442\u043e\u043c\u0443 \u0431\u044b\u0432\u0430\u0435\u0442 \u044f \u043f\u043e\u0434\u043d\u0438\u043c\u0430\u044e \u043d\u043e\u0433\u0438, \u043d\u043e \u0442\u0443\u0442 \u0435\u0441\u0442\u044c \u043f\u0440\u043e\u0431\u043b\u0435\u043c\u0430. \u042f \u0441\u0447\u0438\u0442\u0430\u044e \u0441\u043a\u043e\u043b\u044c\u043a\u043e \u0440\u0430\u0437 \u043f\u043e\u0434\u043d\u044f\u043b \u043d\u043e\u0433\u0438, \u0430 \u043a\u043e\u0433\u0434\u0430 \u044f \u0441\u0447\u0438\u0442\u0430\u044e, \u0442\u043e \u044f \u043d\u0435 \u043c\u043e\u0433\u0443 \u0440\u0430\u0437\u0433\u043e\u0432\u0430\u0440\u0438\u0432\u0430\u0442\u044c \u0438\u043b\u0438 \u0441\u043c\u043e\u0442\u0440\u0435\u0442\u044c \u0432\u043d\u0438\u043c\u0430\u0442\u0435\u043b\u044c\u043d\u043e \u043a\u0438\u043d\u043e. \u0421\u0438\u0442\u0443\u0430\u0446\u0438\u044f \u0441\u0442\u0430\u043b\u0430 \u043a\u0440\u0438\u0442\u0438\u0447\u043d\u043e\u0439, \u043a\u043e\u0433\u0434\u0430 \u044f \u0440\u0435\u0448\u0438\u043b \u0434\u043e\u0441\u043c\u043e\u0442\u0440\u0435\u0442\u044c \u043f\u043e\u0441\u043b\u0435\u0434\u043d\u0438\u0438 \u0441\u0435\u0440\u0438\u0438 \u041d\u0430\u0440\u0443\u0442\u043e. \u041f\u043e\u044d\u0442\u043e\u043c\u0443 \u044f \u0441\u043e\u0437\u0434\u0430\u043b \u0435\u0433\u043e!<br \/>  <iframe loading=\"lazy\" width=\"560\" height=\"349\" src=\"\/\/www.youtube.com\/embed\/5VAaSTWe0EU?wmode=opaque\" frameborder=\"0\" allowfullscreen><\/iframe>  <\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[],"tags":[],"class_list":["post-262548","post","type-post","status-publish","format-standard","hentry"],"_links":{"self":[{"href":"https:\/\/savepearlharbor.com\/index.php?rest_route=\/wp\/v2\/posts\/262548","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/savepearlharbor.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/savepearlharbor.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/savepearlharbor.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/savepearlharbor.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=262548"}],"version-history":[{"count":0,"href":"https:\/\/savepearlharbor.com\/index.php?rest_route=\/wp\/v2\/posts\/262548\/revisions"}],"wp:attachment":[{"href":"https:\/\/savepearlharbor.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=262548"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/savepearlharbor.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=262548"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/savepearlharbor.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=262548"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}