MPU6050陀螺停止发送数据

Question

我从事一个项目，我有很大的 Arduino 代码。

这里我要获取 MPU6050 陀螺仪数据，并将其写入 function 中。

我有一个例子，但这不起作用。 如果我移动陀螺仪，10-30 秒后它会停止运行。

我使用jarzebski MPU6050 库。

这是代码：

/*
* MPU6050      Arduino mega 2560
* Vcc          3.3v
* gnd          GND
* SDA          SDA (20)
* SCL          SCL (21)
*/
    
#include <Wire.h>
#include <MPU6050.h>
    
int16_t ax, ay, az;
int16_t gx, gy, gz;
    
MPU6050 mpu;  // Initiates library.
    
double mpuDat[6]={0.00,0.00,0.00,0.00,0.00,0.00};//global variable with mpu datas
    
unsigned long timer = 0;
float timeStep = 0;
float pitch = 0;
float roll = 0;
float yaw = 0;
    
void setup() {
  Serial.begin(115200);

  while (!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G)) {
    Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
    delay(500);
  }

  mpu.calibrateGyro();
  mpu.setThreshold(3);
}
    
void loop() {
  get_gyro();

  //print gyro data  
  Serial.print(mpuDat[0]);
  Serial.print("  ");
  Serial.print(mpuDat[1]);  
  Serial.print("  ");
  Serial.print(mpuDat[2]);
  Serial.print(" -- ");

  //print accel datas
  Serial.print(mpuDat[3]);
  Serial.print("  ");
  Serial.print(mpuDat[4]);  
  Serial.print("  ");
  Serial.println(mpuDat[5]);
    
  //here use I more functions, here in example just a varint delay
  delay(random(0,5));
}
    
void get_gyro() {
  timeStep=millis() - timer;
  timer = millis();

  //gyro
  Vector norm = mpu.readNormalizeGyro();        //read gyro datas
  pitch = pitch + norm.YAxis * timeStep / 1000; //convert °/sec to real deg
  roll = roll + norm.XAxis * timeStep/1000;
  yaw = yaw + norm.ZAxis * timeStep/1000;  
  mpuDat[0] = pitch;
  mpuDat[1] = roll;
  mpuDat[2] = yaw;
      
  //accel
  Vector normA=mpu.readNormalizeAccel();        //read accel datas
  mpuDat[3]=normA.XAxis;
  mpuDat[4]=normA.YAxis;
  mpuDat[5]=normA.ZAxis;
}

感谢帮助！

我的英语不是很完美，对不起。