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--- arduino:mpu-6050 [2017/08/03 23:05] – created aistis
+++ arduino:mpu-6050 [2017/09/03 20:46] (current) – aistis
@@ Line 1: / Line 1: @@
+MPU6050  MPU-6050 gyroscope accelerometer
+bord: GY-521   ITG/MPU
 {{:arduino:pasted:20170803-230553.jpeg}}
 https://playground.arduino.cc/Main/MPU-6050#short
+<code c>
+    // MPU-6050 Short Example Sketch
+    // By Arduino User JohnChi
+    // August 17, 2014
+    // Public Domain
+    #include<Wire.h>
+    const int MPU_addr=0x68;  // I2C address of the MPU-6050
+    int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;
+    void setup(){
+      Wire.begin();
+      Wire.beginTransmission(MPU_addr);
+      Wire.write(0x6B);  // PWR_MGMT_1 register
+      Wire.write(0);     // set to zero (wakes up the MPU-6050)
+      Wire.endTransmission(true);
+      Serial.begin(250000);
+    }
+    void loop(){
+      Wire.beginTransmission(MPU_addr);
+      Wire.write(0x3B);  // starting with register 0x3B (ACCEL_XOUT_H)
+      Wire.endTransmission(false);
+      Wire.requestFrom(MPU_addr,14,true);  // request a total of 14 registers
+      AcX=Wire.read()<<8|Wire.read();  // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)
+      AcY=Wire.read()<<8|Wire.read();  // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
+      AcZ=Wire.read()<<8|Wire.read();  // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)
+      Tmp=Wire.read()<<8|Wire.read();  // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L)
+      GyX=Wire.read()<<8|Wire.read();  // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
+      GyY=Wire.read()<<8|Wire.read();  // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
+      GyZ=Wire.read()<<8|Wire.read();  // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)
+      Serial.print(""); Serial.print(AcX);
+      Serial.print(","); Serial.print(AcY);
+      Serial.print(","); Serial.print(AcZ);
+      Serial.print(","); Serial.print(Tmp/340.00+36.53);  //equation for temperature in degrees C from datasheet
+      Serial.print(","); Serial.print(GyX);
+      Serial.print(","); Serial.print(GyY);
+      Serial.print(","); Serial.println(GyZ);
+      //delay(333);
+    }
+</code>
+{{:arduino:pasted:20170803-230713.png}}
+{{:arduino:mpu-6050-judinamas.gif}}
+calibrate
+https://github.com/kkpoon/CalibrateMPU6050
+<code c>
+#include "I2Cdev.h"
+#include "MPU6050.h"
+#include "Wire.h"
+#define MPU6050_ACCEL_OFFSET_X -773
+#define MPU6050_ACCEL_OFFSET_Y 3278
+#define MPU6050_ACCEL_OFFSET_Z 1660
+#define MPU6050_GYRO_OFFSET_X  -24
+#define MPU6050_GYRO_OFFSET_Y  -62
+#define MPU6050_GYRO_OFFSET_Z  -6
+MPU6050 mpu;
+void setup() {
+    Wire.begin();
+    mpu.initialize();
+    mpu.setXAccelOffset(MPU6050_ACCEL_OFFSET_X);
+    mpu.setYAccelOffset(MPU6050_ACCEL_OFFSET_Y);
+    mpu.setZAccelOffset(MPU6050_ACCEL_OFFSET_Z);
+    mpu.setXGyroOffset(MPU6050_GYRO_OFFSET_X);
+    mpu.setYGyroOffset(MPU6050_GYRO_OFFSET_Y);
+    mpu.setZGyroOffset(MPU6050_GYRO_OFFSET_Z);
+}
+void loop() {
+}
+</code>