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- #include <Adafruit_MPU6050.h>
- #include <Adafruit_Sensor.h>
- #include <Wire.h>
- Adafruit_MPU6050 mpu;
- void setup(void) {
- Serial.begin(115200);
- while (!Serial)
- delay(10); // will pause Zero, Leonardo, etc until serial console opens
- Serial.println("Adafruit MPU6050 test!");
- // Try to initialize!
- if (!mpu.begin()) {
- Serial.println("Failed to find MPU6050 chip");
- while (1) {
- delay(10);
- }
- }
- Serial.println("MPU6050 Found!");
- mpu.setAccelerometerRange(MPU6050_RANGE_8_G);
- Serial.print("Accelerometer range set to: ");
- switch (mpu.getAccelerometerRange()) {
- case MPU6050_RANGE_2_G:
- Serial.println("+-2G");
- break;
- case MPU6050_RANGE_4_G:
- Serial.println("+-4G");
- break;
- case MPU6050_RANGE_8_G:
- Serial.println("+-8G");
- break;
- case MPU6050_RANGE_16_G:
- Serial.println("+-16G");
- break;
- }
- mpu.setGyroRange(MPU6050_RANGE_500_DEG);
- Serial.print("Gyro range set to: ");
- switch (mpu.getGyroRange()) {
- case MPU6050_RANGE_250_DEG:
- Serial.println("+- 250 deg/s");
- break;
- case MPU6050_RANGE_500_DEG:
- Serial.println("+- 500 deg/s");
- break;
- case MPU6050_RANGE_1000_DEG:
- Serial.println("+- 1000 deg/s");
- break;
- case MPU6050_RANGE_2000_DEG:
- Serial.println("+- 2000 deg/s");
- break;
- }
- mpu.setFilterBandwidth(MPU6050_BAND_5_HZ);
- Serial.print("Filter bandwidth set to: ");
- switch (mpu.getFilterBandwidth()) {
- case MPU6050_BAND_260_HZ:
- Serial.println("260 Hz");
- break;
- case MPU6050_BAND_184_HZ:
- Serial.println("184 Hz");
- break;
- case MPU6050_BAND_94_HZ:
- Serial.println("94 Hz");
- break;
- case MPU6050_BAND_44_HZ:
- Serial.println("44 Hz");
- break;
- case MPU6050_BAND_21_HZ:
- Serial.println("21 Hz");
- break;
- case MPU6050_BAND_10_HZ:
- Serial.println("10 Hz");
- break;
- case MPU6050_BAND_5_HZ:
- Serial.println("5 Hz");
- break;
- }
- Serial.println("");
- delay(100);
- }
- void loop() {
- /* Get new sensor events with the readings */
- sensors_event_t a, g, temp;
- mpu.getEvent(&a, &g, &temp);
- /* Print out the values */
- Serial.print("Acceleration X: ");
- Serial.print(a.acceleration.x);
- Serial.print(", Y: ");
- Serial.print(a.acceleration.y);
- Serial.print(", Z: ");
- Serial.print(a.acceleration.z);
- Serial.println(" m/s^2");
- Serial.print("Rotation X: ");
- Serial.print(g.gyro.x);
- Serial.print(", Y: ");
- Serial.print(g.gyro.y);
- Serial.print(", Z: ");
- Serial.print(g.gyro.z);
- Serial.println(" rad/s");
- Serial.print("Temperature: ");
- Serial.print(temp.temperature);
- Serial.println(" degC");
- Serial.println("");
- delay(500);
- }
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