70 lines
2.5 KiB
Arduino
70 lines
2.5 KiB
Arduino
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// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
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// for both classes must be in the include path of your project
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#include "I2Cdev.h"
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#include "MPU6050.h"
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#include "Wire.h"
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MPU6050 accelgyro;
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int16_t ax, ay, az;
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int16_t gx, gy, gz;
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void setup() {
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Wire.begin();
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// initialize serial communication
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// (38400 chosen because it works as well at 8MHz as it does at 16MHz, but
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// it's really up to you depending on your project)
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Serial.begin(38400);
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// initialize device
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Serial.println("Initializing I2C devices...");
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accelgyro.initialize();
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// verify connection
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Serial.println("Testing device connections...");
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Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
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// use the code below to change accel/gyro offset values
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/*
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Serial.println("Updating internal sensor offsets...");
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// -76 -2359 1688 0 0 0
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Serial.print(accelgyro.getXAccelOffset()); Serial.print("\t"); // -76
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Serial.print(accelgyro.getYAccelOffset()); Serial.print("\t"); // -2359
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Serial.print(accelgyro.getZAccelOffset()); Serial.print("\t"); // 1688
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Serial.print(accelgyro.getXGyroOffset()); Serial.print("\t"); // 0
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Serial.print(accelgyro.getYGyroOffset()); Serial.print("\t"); // 0
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Serial.print(accelgyro.getZGyroOffset()); Serial.print("\t"); // 0
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Serial.print("\n");
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accelgyro.setXGyroOffset(220);
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accelgyro.setYGyroOffset(76);
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accelgyro.setZGyroOffset(-85);
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Serial.print(accelgyro.getXAccelOffset()); Serial.print("\t"); // -76
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Serial.print(accelgyro.getYAccelOffset()); Serial.print("\t"); // -2359
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Serial.print(accelgyro.getZAccelOffset()); Serial.print("\t"); // 1688
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Serial.print(accelgyro.getXGyroOffset()); Serial.print("\t"); // 0
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Serial.print(accelgyro.getYGyroOffset()); Serial.print("\t"); // 0
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Serial.print(accelgyro.getZGyroOffset()); Serial.print("\t"); // 0
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Serial.print("\n");
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*/
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}
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void loop() {
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// read raw accel/gyro measurements from device
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accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
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// these methods (and a few others) are also available
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//accelgyro.getAcceleration(&ax, &ay, &az);
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//accelgyro.getRotation(&gx, &gy, &gz);
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// display tab-separated accel/gyro x/y/z values
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Serial.print("a/g:\t");
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Serial.print(ax); Serial.print("\t");
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Serial.print(ay); Serial.print("\t");
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Serial.print(az); Serial.print("\t");
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Serial.print(gx); Serial.print("\t");
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Serial.print(gy); Serial.print("\t");
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Serial.println(gz);
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}
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