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MPU6050_raw.ino

https://github.com/jrowberg/i2cdevlib/blob/master/Arduino/MPU6050/Examples/MPU6050_raw/MPU6050_raw.ino

  • // I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class

    // 10/7/2011 by Jeff Rowberg <jeff@rowberg.net>

    // Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib

    //

    // Changelog:

    // 2013-05-08 – added multiple output formats

    // – added seamless Fastwire support

    // 2011-10-07 – initial release

    /* ============================================

    I2Cdev device library code is placed under the MIT license

    Copyright (c) 2011 Jeff Rowberg

    Permission is hereby granted, free of charge, to any person obtaining a copy

    of this software and associated documentation files (the « Software »), to deal

    in the Software without restriction, including without limitation the rights

    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell

    copies of the Software, and to permit persons to whom the Software is

    furnished to do so, subject to the following conditions:

    The above copyright notice and this permission notice shall be included in

    all copies or substantial portions of the Software.

    THE SOFTWARE IS PROVIDED « AS IS », WITHOUT WARRANTY OF ANY KIND, EXPRESS OR

    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,

    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE

    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER

    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,

    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN

    THE SOFTWARE.

    ===============================================

    */

    // I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files

    // for both classes must be in the include path of your project

    #include « I2Cdev.h »

    #include « MPU6050.h »

    // Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation

    // is used in I2Cdev.h

    #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE

        #include « Wire.h »

    #endif

    // class default I2C address is 0x68

    // specific I2C addresses may be passed as a parameter here

    // AD0 low = 0x68 (default for InvenSense evaluation board)

    // AD0 high = 0x69

    MPU6050 accelgyro;

    //MPU6050 accelgyro(0x69); // <– use for AD0 high

    int16_t ax, ay, az;

    int16_t gx, gy, gz;

    // uncomment « OUTPUT_READABLE_ACCELGYRO » if you want to see a tab-separated

    // list of the accel X/Y/Z and then gyro X/Y/Z values in decimal. Easy to read,

    // not so easy to parse, and slow(er) over UART.

    #define OUTPUT_READABLE_ACCELGYRO

    // uncomment « OUTPUT_BINARY_ACCELGYRO » to send all 6 axes of data as 16-bit

    // binary, one right after the other. This is very fast (as fast as possible

    // without compression or data loss), and easy to parse, but impossible to read

    // for a human.

    //#define OUTPUT_BINARY_ACCELGYRO

    #define LED_PIN 13

    bool blinkState = false;

    void setup() {

        // join I2C bus (I2Cdev library doesn’t do this automatically)

        #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE

            Wire.begin();

        #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE

            Fastwire::setup(400, true);

        #endif

        // initialize serial communication

        // (38400 chosen because it works as well at 8MHz as it does at 16MHz, but

        // it’s really up to you depending on your project)

        Serial.begin(38400);

        // initialize device

        Serial.println(« Initializing I2C devices… »);

        accelgyro.initialize();

        // verify connection

        Serial.println(« Testing device connections… »);

        Serial.println(accelgyro.testConnection() ? « MPU6050 connection successful » : « MPU6050 connection failed »);

        // use the code below to change accel/gyro offset values

        /*

    Serial.println(« Updating internal sensor offsets… »);

    // -76 -2359 1688 0 0 0

    Serial.print(accelgyro.getXAccelOffset()); Serial.print(« \t »); // -76

    Serial.print(accelgyro.getYAccelOffset()); Serial.print(« \t »); // -2359

    Serial.print(accelgyro.getZAccelOffset()); Serial.print(« \t »); // 1688

    Serial.print(accelgyro.getXGyroOffset()); Serial.print(« \t »); // 0

    Serial.print(accelgyro.getYGyroOffset()); Serial.print(« \t »); // 0

    Serial.print(accelgyro.getZGyroOffset()); Serial.print(« \t »); // 0

    Serial.print(« \n »);

    accelgyro.setXGyroOffset(220);

    accelgyro.setYGyroOffset(76);

    accelgyro.setZGyroOffset(-85);

    Serial.print(accelgyro.getXAccelOffset()); Serial.print(« \t »); // -76

    Serial.print(accelgyro.getYAccelOffset()); Serial.print(« \t »); // -2359

    Serial.print(accelgyro.getZAccelOffset()); Serial.print(« \t »); // 1688

    Serial.print(accelgyro.getXGyroOffset()); Serial.print(« \t »); // 0

    Serial.print(accelgyro.getYGyroOffset()); Serial.print(« \t »); // 0

    Serial.print(accelgyro.getZGyroOffset()); Serial.print(« \t »); // 0

    Serial.print(« \n »);

    */

        // configure Arduino LED for

        pinMode(LED_PIN, OUTPUT);

    }

    void loop() {

        // read raw accel/gyro measurements from device

        accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);

        // these methods (and a few others) are also available

        //accelgyro.getAcceleration(&ax, &ay, &az);

        //accelgyro.getRotation(&gx, &gy, &gz);

        #ifdef OUTPUT_READABLE_ACCELGYRO

            // display tab-separated accel/gyro x/y/z values

            Serial.print(« a/g:\t« );

            Serial.print(ax); Serial.print(« \t« );

            Serial.print(ay); Serial.print(« \t« );

            Serial.print(az); Serial.print(« \t« );

            Serial.print(gx); Serial.print(« \t« );

            Serial.print(gy); Serial.print(« \t« );

            Serial.println(gz);

        #endif

        #ifdef OUTPUT_BINARY_ACCELGYRO

            Serial.write((uint8_t)(ax >> 8)); Serial.write((uint8_t)(ax & 0xFF));

            Serial.write((uint8_t)(ay >> 8)); Serial.write((uint8_t)(ay & 0xFF));

            Serial.write((uint8_t)(az >> 8)); Serial.write((uint8_t)(az & 0xFF));

            Serial.write((uint8_t)(gx >> 8)); Serial.write((uint8_t)(gx & 0xFF));

            Serial.write((uint8_t)(gy >> 8)); Serial.write((uint8_t)(gy & 0xFF));

            Serial.write((uint8_t)(gz >> 8)); Serial.write((uint8_t)(gz & 0xFF));

        #endif

        // blink LED to indicate activity

        blinkState = !blinkState;

        digitalWrite(LED_PIN, blinkState);

    }

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