while循环开始后程序停止

我试图根据来自我的陀螺仪的数据移动我的舵机。不幸的是，我的程序在while循环开始后停止。例如，在我的代码中，一旦gyroX值达到3000，串行监视器停止给我陀螺仪数据，伺服器不运行。任何建议如何解决这个问题，将不胜感激。while循环开始后程序停止

#include <Wire.h> 
#include <Servo.h> 

Servo servo; 

long accelX, accelY, accelZ; 
float gForceX, gForceY, gForceZ; 

long gyroX, gyroY, gyroZ; 
float rotX, rotY, rotZ; 

int pos1 = 90; 

void setup() { 
    Serial.begin(9600); 
    Wire.begin(); 
    setupMPU(); 
} 


void loop() { 
    recordAccelRegisters(); 
    recordGyroRegisters(); 
    printData(); 
    while(gyroX > 3000){ //problem happens here 
    pos1 += 5; 
    servo.write(pos1); 
    } 
} 

void setupMPU(){ 
    Wire.beginTransmission(0b1101000); 
    Wire.write(0x6B); 
    Wire.write(0b00000000); 
    Wire.endTransmission(); 
    Wire.beginTransmission(0b1101000); 
    Wire.write(0x1B); 
    Wire.write(0x00000000); 
    Wire.endTransmission(); 
    Wire.beginTransmission(0b1101000); 
    Wire.write(0x1C); 
    Wire.write(0b00000000); 
    Wire.endTransmission(); 
} 

void recordGyroRegisters() { 
    Wire.beginTransmission(0b1101000); 
    Wire.write(0x3B); 
    Wire.endTransmission(); 
    Wire.requestFrom(0b1101000,6); 
    while(Wire.available() < 6); 
    gyroX = Wire.read()<<8|Wire.read(); 
    gyroY = Wire.read()<<8|Wire.read(); 
    gyroZ = Wire.read()<<8|Wire.read(); 
} 

void recordAccelRegisters() { 
    Wire.beginTransmission(0b1101000); 
    Wire.write(0x43); 
    Wire.endTransmission(); 
    Wire.requestFrom(0b1101000,6); 
    while(Wire.available() < 6); 
    accelX = Wire.read()<<8|Wire.read(); 
    accelY = Wire.read()<<8|Wire.read(); 
    accelZ = Wire.read()<<8|Wire.read(); 
} 

void printData() { 
    Serial.print("Gyro (deg)"); 
    Serial.print(" X="); 
    Serial.print(gyroX); 
    Serial.print(" Y="); 
    Serial.print(gyroY); 
    Serial.print(" Z="); 
    Serial.print(gyroZ); 
    Serial.print(" Accel (g)"); 
    Serial.print(" X="); 
    Serial.print(accelX); 
    Serial.print(" Y="); 
    Serial.print(accelY); 
    Serial.print(" Z="); 
    Serial.println(accelZ); 
}

来源

2017-10-05 Brett Sasse