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lucainnoc May 22nd, 2019 56 Never
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  1. // MPU-6050 Short Example Sketch
  2. #include<Wire.h>
  3. const int MPU=0x68;  // I2C address of the MPU-6050
  4. int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;
  5. void setup(){
  6.   Wire.begin();
  7.   Wire.beginTransmission(MPU);
  8.   Wire.write(0x6B);  // PWR_MGMT_1 register
  9.   Wire.write(0);     // set to zero (wakes up the MPU-6050)
  10.   Wire.endTransmission(true);
  11.   Serial.begin(9600);
  12. }
  13. void loop(){
  14.   Wire.beginTransmission(MPU);
  15.   Wire.write(0x3B);  // starting with register 0x3B (ACCEL_XOUT_H)
  16.   Wire.endTransmission(false);
  17.   Wire.requestFrom(MPU,14,true);  // request a total of 14 registers
  18.   AcX=Wire.read()<<8|Wire.read();  // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)    
  19.   AcY=Wire.read()<<8|Wire.read();  // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
  20.   AcZ=Wire.read()<<8|Wire.read();  // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)
  21.  
  22.   double pitch = (atan2(AcY,AcZ))*180.0/3.14;
  23.   Serial.print("Pitch: ");
  24.   Serial.print(pitch,3);
  25.  
  26.  
  27.   Serial.println(" ");
  28.   delay(500);
  29. }
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