MPU9250 ３軸ジャイロ＋３軸加速度＋３軸磁気 複合センサー

配線図

ドライバのインストール

npm i @chirimen/mpu6500
npm i @chirimen/ak8963

サンプルコード

const { requestI2CAccess } = require("node-web-i2c");
const MPU6500 = require("@chirimen/mpu6500");
const AK8963 = require("@chirimen/ak8963");
const { promisify } = require("util");
const sleep = promisify(setTimeout);

main();

async function main() {
  const i2cAccess = await requestI2CAccess();
  const port = i2cAccess.ports.get(1);
  const mpu6500 = new MPU6500(port, 0x68);
  const ak8963 = new AK8963(port, 0x0c);
  await mpu6500.init();
  await ak8963.init();

  while (true) {
    const g = await mpu6500.getGyro();
    const r = await mpu6500.getAcceleration();
    const h = await ak8963.readData();
    console.log(
      [
        `Gx: ${g.x}, Gy: ${g.y}, Gz: ${g.z}`,
        `Rx: ${r.x}, Ry: ${r.y}, Rz: ${r.z}`,
        `Hx: ${h.x}, Hy: ${h.y}, Hz: ${h.z}`
      ].join("\n")
    );

    await sleep(500);
  }
}