MPU6050_test.ino

// 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"
#include "Wire.h"


// 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;

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(9600);

    // 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...");
    //  -640,    2047,    4926,     -33,      -8,      56
    accelgyro.setXAccelOffset(-640);
    accelgyro.setYAccelOffset(2047);
    accelgyro.setZAccelOffset(4926);
    accelgyro.setXGyroOffset(-33);
    accelgyro.setYGyroOffset(-8);
    accelgyro.setZGyroOffset(56);
    Serial.print(accelgyro.getXAccelOffset()); Serial.print("\t");
    Serial.print(accelgyro.getYAccelOffset()); Serial.print("\t");
    Serial.print(accelgyro.getZAccelOffset()); Serial.print("\t");
    Serial.print(accelgyro.getXGyroOffset()); Serial.print("\t");
    Serial.print(accelgyro.getYGyroOffset()); Serial.print("\t");
    Serial.print(accelgyro.getZGyroOffset()); Serial.print("\t");
    Serial.print("\n");
    
}

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);

    // display tab-separated accel/gyro x/y/z values
    Serial.print("Acceleration: ");
    Serial.print(ax / 16384.0);  // Divide by sensitivity scale factor
    Serial.print(", ");
    Serial.print(ay / 16384.0);
    Serial.print(", ");
    Serial.print(az / 16384.0);
    Serial.print("g; ");

    Serial.print("Rotation: ");
    Serial.print(gx / 131.0);  // Divide by sensitivity scale factor
    Serial.print(", ");
    Serial.print(gy / 131.0);
    Serial.print(", ");
    Serial.print(gz / 131.0);
    Serial.println("°/s");

    delay(1000);
}