#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>
#include <Wire.h>
Adafruit_MPU6050 mpu;
void setup(void) {
Serial.begin(115200);
while (!Serial)
delay(10);
if (!mpu.begin()) {
Serial.println("Failed to find MPU6050 chip");
while (1) {
delay(10);
}
}
Serial.println("MPU6050 Found!");
mpu.setAccelerometerRange(MPU6050_RANGE_2_G);
Serial.println("Accelerometer range set to: +-2G");
mpu.setGyroRange(MPU6050_RANGE_500_DEG);
Serial.println("Gyro range set to: +- 500 deg/s");
mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);
Serial.println("Filter bandwidth set to: 21 Hz");
delay(100);
}
void loop() {
Serial.println("-----------------------------------------------------------------------------");
sensors_event_t a, g, temp;
mpu.getEvent(&a, &g, &temp);
Serial.print("Acceleration X: ");
Serial.print(a.acceleration.x);
Serial.print(", Y: ");
Serial.print(a.acceleration.y);
Serial.print(", Z: ");
Serial.print(a.acceleration.z);
Serial.println(" m/s^2");
Serial.print("Rotation X: ");
Serial.print(g.gyro.x);
Serial.print(", Y: ");
Serial.print(g.gyro.y);
Serial.print(", Z: ");
Serial.print(g.gyro.z);
Serial.println(" rad/s");
float acc=sqrt((a.acceleration.x)*(a.acceleration.x)+(a.acceleration.y)*(a.acceleration.y)+(a.acceleration.z)*(a.acceleration.z));
Serial.print("Net acceleration = ");
Serial.print(acc);
Serial.println(" m/s^2");
Serial.println("Angle with the axes calibrated from the start time so it may include some error times.");
int xa=int(((g.gyro.x)*180*millis()/(1000*PI)))%360;
int ya=int(((g.gyro.y)*180*millis()/(1000*PI)))%360;
int za=int(((g.gyro.z)*180*millis()/(1000*PI)))%360;
Serial.print("Angle with X axis = ");
Serial.print(xa);
Serial.println("°");
Serial.print("Angle with X axis = ");
Serial.print(ya);
Serial.println("°");
Serial.print("Angle with X axis = ");
Serial.print(za);
Serial.println("°");
delay(5000);
}