#include <Wire.h>
#include <MPU6050.h>
MPU6050 mpu;
void setup()
{
Serial.begin(115200);
Serial.println("Initialize MPU6050");
mpu.initialize();
if (mpu.testConnection()) {
Serial.println("Connection Successful!");
} else {
Serial.println("Connection Failed!");
while (1); // Stop running the program if connection is failed.
}
}
void loop()
{
// Read raw accelerometer and gyroscope data
int16_t ax, ay, az, gx, gy, gz;
mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
// Calculate normalized (scaled) accelerometer values
float normAccelX = ax / 16384.0; // 16384 is the sensitivity scale
float normAccelY = ay / 16384.0;
float normAccelZ = az / 16384.0;
Serial.print(" Xraw = ");
Serial.print(ax);
Serial.print(" Yraw = ");
Serial.print(ay);
Serial.print(" Zraw = ");
Serial.print(az);
Serial.print(" Xnorm = ");
Serial.print(normAccelX);
Serial.print(" Ynorm = ");
Serial.print(normAccelY);
Serial.print(" Znorm = ");
Serial.println(normAccelZ);
delay(1000);
}