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39503eb Oct 20, 2014
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/*
MPU6050 Triple Axis Gyroscope & Accelerometer. Simple Accelerometer Example.
Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-zyroskop-i-akcelerometr-mpu6050.html
GIT: https://github.com/jarzebski/Arduino-MPU6050
Web: http://www.jarzebski.pl
(c) 2014 by Korneliusz Jarzebski
*/
#include <Wire.h>
#include <MPU6050.h>
MPU6050 mpu;
void setup()
{
Serial.begin(115200);
Serial.println("Initialize MPU6050");
while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G))
{
Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
delay(500);
}
// If you want, you can set accelerometer offsets
// mpu.setAccelOffsetX();
// mpu.setAccelOffsetY();
// mpu.setAccelOffsetZ();
checkSettings();
}
void checkSettings()
{
Serial.println();
Serial.print(" * Sleep Mode: ");
Serial.println(mpu.getSleepEnabled() ? "Enabled" : "Disabled");
Serial.print(" * Clock Source: ");
switch(mpu.getClockSource())
{
case MPU6050_CLOCK_KEEP_RESET: Serial.println("Stops the clock and keeps the timing generator in reset"); break;
case MPU6050_CLOCK_EXTERNAL_19MHZ: Serial.println("PLL with external 19.2MHz reference"); break;
case MPU6050_CLOCK_EXTERNAL_32KHZ: Serial.println("PLL with external 32.768kHz reference"); break;
case MPU6050_CLOCK_PLL_ZGYRO: Serial.println("PLL with Z axis gyroscope reference"); break;
case MPU6050_CLOCK_PLL_YGYRO: Serial.println("PLL with Y axis gyroscope reference"); break;
case MPU6050_CLOCK_PLL_XGYRO: Serial.println("PLL with X axis gyroscope reference"); break;
case MPU6050_CLOCK_INTERNAL_8MHZ: Serial.println("Internal 8MHz oscillator"); break;
}
Serial.print(" * Accelerometer: ");
switch(mpu.getRange())
{
case MPU6050_RANGE_16G: Serial.println("+/- 16 g"); break;
case MPU6050_RANGE_8G: Serial.println("+/- 8 g"); break;
case MPU6050_RANGE_4G: Serial.println("+/- 4 g"); break;
case MPU6050_RANGE_2G: Serial.println("+/- 2 g"); break;
}
Serial.print(" * Accelerometer offsets: ");
Serial.print(mpu.getAccelOffsetX());
Serial.print(" / ");
Serial.print(mpu.getAccelOffsetY());
Serial.print(" / ");
Serial.println(mpu.getAccelOffsetZ());
Serial.println();
}
void loop()
{
Vector rawAccel = mpu.readRawAccel();
Vector normAccel = mpu.readNormalizeAccel();
Serial.print(" Xraw = ");
Serial.print(rawAccel.XAxis);
Serial.print(" Yraw = ");
Serial.print(rawAccel.YAxis);
Serial.print(" Zraw = ");
Serial.println(rawAccel.ZAxis);
Serial.print(" Xnorm = ");
Serial.print(normAccel.XAxis);
Serial.print(" Ynorm = ");
Serial.print(normAccel.YAxis);
Serial.print(" Znorm = ");
Serial.println(normAccel.ZAxis);
delay(10);
}