MPU6050 gy-521搭配Arduino nano使用

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說明MPU6050是晶片
我使用gy 521上面幫你做了一些接線


接線方式
gy-521可只接4隻腳位
VCC (電壓3.3V and 5V sources.)
GND
SCL (Serial Clock Line of the I2C protocol.)
SDA (Serial Data Line of the I2C protocol.)

與Arduino nano接線
VCC接27腳5V
GND接29腳GNN
SCL接A5
SDA接A4
如圖



使用Library涵式庫，讓你不用寫底層處理，直接使用寫code比較快
https://github.com/jrowberg/i2cdevlib
安裝方式將檔案用zip下載
然後資料夾Arduino\MPU6050還有Arduino\I2Cdev丟到我的文件\Arduino\libraries
然後重開arduino會讀到

使用範例MPU6050\examples\MPU6050_raw

1. // I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class
   
2. // 10/7/2011 by Jeff Rowberg <jeff@rowberg.net>
   
3. // Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
   
4. //
   
5. // Changelog:
   
6. //      2013-05-08 - added multiple output formats
   
7. //                 - added seamless Fastwire support
   
8. //      2011-10-07 - initial release
   
9. 
   
10. /* ============================================
    
11. I2Cdev device library code is placed under the MIT license
    
12. Copyright (c) 2011 Jeff Rowberg
    
13. 
    
14. Permission is hereby granted, free of charge, to any person obtaining a copy
    
15. of this software and associated documentation files (the "Software"), to deal
    
16. in the Software without restriction, including without limitation the rights
    
17. to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
    
18. copies of the Software, and to permit persons to whom the Software is
    
19. furnished to do so, subject to the following conditions:
    
20. 
    
21. The above copyright notice and this permission notice shall be included in
    
22. all copies or substantial portions of the Software.
    
23. 
    
24. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
    
25. IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
    
26. FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
    
27. AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
    
28. LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
    
29. OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
    
30. THE SOFTWARE.
    
31. ===============================================
    
32. */
    
33. 
    
34. // I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
    
35. // for both classes must be in the include path of your project
    
36. #include "I2Cdev.h"
    
37. #include "MPU6050.h"
    
38. 
    
39. // Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
    
40. // is used in I2Cdev.h
    
41. #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
    
42.     #include "Wire.h"
    
43. #endif
    
44. 
    
45. // class default I2C address is 0x68
    
46. // specific I2C addresses may be passed as a parameter here
    
47. // AD0 low = 0x68 (default for InvenSense evaluation board)
    
48. // AD0 high = 0x69
    
49. MPU6050 accelgyro;
    
50. //MPU6050 accelgyro(0x69); // <-- use for AD0 high
    
51. 
    
52. int16_t ax, ay, az;
    
53. int16_t gx, gy, gz;
    
54. 
    
55. 
    
56. 
    
57. // uncomment "OUTPUT_READABLE_ACCELGYRO" if you want to see a tab-separated
    
58. // list of the accel X/Y/Z and then gyro X/Y/Z values in decimal. Easy to read,
    
59. // not so easy to parse, and slow(er) over UART.
    
60. #define OUTPUT_READABLE_ACCELGYRO
    
61. 
    
62. // uncomment "OUTPUT_BINARY_ACCELGYRO" to send all 6 axes of data as 16-bit
    
63. // binary, one right after the other. This is very fast (as fast as possible
    
64. // without compression or data loss), and easy to parse, but impossible to read
    
65. // for a human.
    
66. //#define OUTPUT_BINARY_ACCELGYRO
    
67. 
    
68. 
    
69. #define LED_PIN 13
    
70. bool blinkState = false;
    
71. 
    
72. void setup() {
    
73.     // join I2C bus (I2Cdev library doesn't do this automatically)
    
74.     #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
    
75.         Wire.begin();
    
76.     #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
    
77.         Fastwire::setup(400, true);
    
78.     #endif
    
79. 
    
80.     // initialize serial communication
    
81.     // (38400 chosen because it works as well at 8MHz as it does at 16MHz, but
    
82.     // it's really up to you depending on your project)
    
83.     Serial.begin(38400);
    
84. 
    
85.     // initialize device
    
86.     Serial.println("Initializing I2C devices...");
    
87.     accelgyro.initialize();
    
88. 
    
89.     // verify connection
    
90.     Serial.println("Testing device connections...");
    
91.     Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
    
92. 
    
93.     // use the code below to change accel/gyro offset values
    
94.     /*
    
95.     Serial.println("Updating internal sensor offsets...");
    
96.     // -76        -2359        1688        0        0        0
    
97.     Serial.print(accelgyro.getXAccelOffset()); Serial.print("\t"); // -76
    
98.     Serial.print(accelgyro.getYAccelOffset()); Serial.print("\t"); // -2359
    
99.     Serial.print(accelgyro.getZAccelOffset()); Serial.print("\t"); // 1688
    
100.     Serial.print(accelgyro.getXGyroOffset()); Serial.print("\t"); // 0
     
101.     Serial.print(accelgyro.getYGyroOffset()); Serial.print("\t"); // 0
     
102.     Serial.print(accelgyro.getZGyroOffset()); Serial.print("\t"); // 0
     
103.     Serial.print("\n");
     
104.     accelgyro.setXGyroOffset(220);
     
105.     accelgyro.setYGyroOffset(76);
     
106.     accelgyro.setZGyroOffset(-85);
     
107.     Serial.print(accelgyro.getXAccelOffset()); Serial.print("\t"); // -76
     
108.     Serial.print(accelgyro.getYAccelOffset()); Serial.print("\t"); // -2359
     
109.     Serial.print(accelgyro.getZAccelOffset()); Serial.print("\t"); // 1688
     
110.     Serial.print(accelgyro.getXGyroOffset()); Serial.print("\t"); // 0
     
111.     Serial.print(accelgyro.getYGyroOffset()); Serial.print("\t"); // 0
     
112.     Serial.print(accelgyro.getZGyroOffset()); Serial.print("\t"); // 0
     
113.     Serial.print("\n");
     
114.     */
     
115. 
     
116.     // configure Arduino LED pin for output
     
117.     pinMode(LED_PIN, OUTPUT);
     
118. }
     
119. 
     
120. void loop() {
     
121.     // read raw accel/gyro measurements from device
     
122.     accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
     
123. 
     
124.     // these methods (and a few others) are also available
     
125.     //accelgyro.getAcceleration(&ax, &ay, &az);
     
126.     //accelgyro.getRotation(&gx, &gy, &gz);
     
127. 
     
128.     #ifdef OUTPUT_READABLE_ACCELGYRO
     
129.         // display tab-separated accel/gyro x/y/z values
     
130.         Serial.print("a/g:\t");
     
131.         Serial.print(ax); Serial.print("\t");
     
132.         Serial.print(ay); Serial.print("\t");
     
133.         Serial.print(az); Serial.print("\t");
     
134.         Serial.print(gx); Serial.print("\t");
     
135.         Serial.print(gy); Serial.print("\t");
     
136.         Serial.println(gz);
     
137.     #endif
     
138. 
     
139.     #ifdef OUTPUT_BINARY_ACCELGYRO
     
140.         Serial.write((uint8_t)(ax >> 8)); Serial.write((uint8_t)(ax & 0xFF));
     
141.         Serial.write((uint8_t)(ay >> 8)); Serial.write((uint8_t)(ay & 0xFF));
     
142.         Serial.write((uint8_t)(az >> 8)); Serial.write((uint8_t)(az & 0xFF));
     
143.         Serial.write((uint8_t)(gx >> 8)); Serial.write((uint8_t)(gx & 0xFF));
     
144.         Serial.write((uint8_t)(gy >> 8)); Serial.write((uint8_t)(gy & 0xFF));
     
145.         Serial.write((uint8_t)(gz >> 8)); Serial.write((uint8_t)(gz & 0xFF));
     
146.     #endif
     
147. 
     
148.     // blink LED to indicate activity
     
149.     blinkState = !blinkState;
     
150.     digitalWrite(LED_PIN, blinkState);
     
151. }

複製代碼

可使用COM觀看加速度