Motion Processor

Motion Processor

This is a complex device using I2C communication, which almost always frustrates beginners. If you want to use an accellerometer I recommend using the ADXL-335 analog sensor since it is much easier to interface with and does not require a library. The accuracy is lower for the ADXL-335 but lower level of frustration is well worth it.

Code for Motion Processor

#include "I2Cdev.h"
#include "MPU6050.h"
#include "Wire.h"

// class default I2C address is 0x68
// specific I2C addresses may be passed as a parameter here
// AD0 low = 0x68 (default for InvenSense evaluation board)
// AD0 high = 0x69

MPU6050 accelgyro;

int16_t ax, ay, az;
int16_t gx, gy, gz;

#define OUTPUT_READABLE_ACCELGYRO

void setup() {
    Wire.begin();

    Serial.begin(38400);

    accelgyro.initialize();

    Serial.println("Testing device connections...");
    Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
}

void loop()
{
    accelgyro.getAcceleration(&ax, &ay, &az);

        Serial.print("a/g:\t");
        Serial.print((ax/256)+128); Serial.print("\t"); //Dividing decreases accuracy we should truncate MSBs
        Serial.print(ay); Serial.print("\t");
        Serial.print(az); Serial.print("\t");
        Serial.print(gx); Serial.print("\t");
        Serial.print(gy); Serial.print("\t");
        Serial.println(gz);
}