MPU6050MPU6050

# MPU6050_tockn Arduino library for easy communicating with the MPU6050 ## Usage You can see [example sketch.](https://github.com/Tockn/MPU6050_tockn/tree/master/examples) If you want to get data of MPU6050, you must execute `update()` method before get method. `update()` will get all data of MPU6050, and calculating angle by accelerometer, gyroscope and complementary filter. ### Complementary filter `update()` method calculate angle by accelerometer and gyroscope using complementary filter. Those two coefficients determined by constructor. Default coefficient of accelerometer is 0.02, gyroscope is 0.98. `filtered_angle = (0.02 * accel) + (0.98 * gyro)` #### example If you want to set 0.1 to accelerometer coefficient and 0.9 to gyroscope coefficient, your code is ```MPU6050 mpu6050(Wire, 0.1, 0.9);``` ### Auto calibration If you use `calcGyroOffsets()` in `setup()`, it will calculate calibration of the gyroscope, and the value of the gyroscope will calibrated. ⚠DO NOT MOVE MPU6050 during calculating.⚠ ``` #include <MPU6050_tockn> #include <Wire.h> MPU6050 mpu6050(Wire); void setup(){ Wire.begin(); mpu6050.begin(); mpu6050.calcGyroOffsets(); } ``` If you use `calcGyroOffsets(true)` in `setup()`, you can see state of calculating calibration in serial monitor. ``` #include <MPU6050_tockn> #include <Wire.h> MPU6050 mpu6050(Wire); void setup(){ Serial.begin(9600); Wire.begin(); mpu6050.begin(); mpu6050.calcGyroOffsets(true); } ``` Serial monitor: ``` Calculate gyro offsets DO NOT MOVE MPU6050..... Done! X : 1.45 Y : 1.23 Z : -1.32 Program will start after 3 seconds ``` If you know offsets of gyroscope, you can set them by `setGyroOffsets()`, and you don't have to execute `calcGyroOffsets()`, so you can launch program quickly. #### example ``` #include <MPU6050_tockn> #include <Wire.h> MPU6050 mpu6050(Wire); void setup(){ Serial.begin(9600); Wire.begin(); mpu6050.begin(); mpu6050.setGyroOffsets(1.45, 1.23, -1.32); } ``` ## Licence MIT ## Author [tockn](https://github.com/tockn)