
from machine import Pin, I2C, sleep
import mpu6050
import time

i2c = I2C (scl =Pin(22), sda =Pin(21))

ledrojo = Pin(13, Pin.OUT)
ledverde = Pin(14, Pin.OUT)
ledazul = Pin(26, Pin.OUT)

mpu = mpu6050.accel(i2c)

main.py

# Wokwi project

This is a Wokwi project. Please edit this README file and add a description of your project.

## Usage

1. Add parts by clicking the blue "+" button in the diagram editor
2. Connect parts by dragging wires between them
3. Click the green play button to start the simulation


README.md

diagram.json

import machine
from time import sleep


class accel():
    def __init__(self, i2c, addr=0x68):
        self.iic = i2c
        self.addr = addr
        self.iic.start()
        self.iic.writeto(self.addr, bytearray([107, 0]))
        self.iic.stop()

    def get_raw_values(self):
        self.iic.start()
        a = self.iic.readfrom_mem(self.addr, 0x3B, 14)
        self.iic.stop()
        return a

    def get_ints(self):
        b = self.get_raw_values()
        c = []
        for i in b:
            c.append(i)
        return c

    def bytes_toint(self, firstbyte, secondbyte):
        if not firstbyte & 0x80:
            return firstbyte << 8 | secondbyte
        return - (((firstbyte ^ 255) << 8) | (secondbyte ^ 255) + 1)

    def get_values(self):
        raw_ints = self.get_raw_values()
        vals = {}
        vals["AcX"] = self.bytes_toint(raw_ints[0], raw_ints[1])
        vals["AcY"] = self.bytes_toint(raw_ints[2], raw_ints[3])
        vals["AcZ"] = self.bytes_toint(raw_ints[4], raw_ints[5])
        vals["Tmp"] = self.bytes_toint(raw_ints[6], raw_ints[7]) / 340.00 + 36.53
        vals["GyX"] = self.bytes_toint(raw_ints[8], raw_ints[9])
        vals["GyY"] = self.bytes_toint(raw_ints[10], raw_ints[11])
        vals["GyZ"] = self.bytes_toint(raw_ints[12], raw_ints[13])
        return vals  # returned in range of Int16
        # -32768 to 32767

    def get_valuesTmp(self):
        raw_ints = self.get_raw_values()
        vals = {}
        vals["Tmp"] = self.bytes_toint(raw_ints[6], raw_ints[7]) / 340.00 + 36.53
        return vals
    def get_valuesMov(self):
        raw_ints = self.get_raw_values()
        vals = {}
        vals["Mov"] = self.bytes_toint(raw_ints[0], raw_ints[1])
        return vals    

    def val_test(self):  # ONLY FOR TESTING! Also, fast reading sometimes crashes IIC
        from time import sleep
        while 1:
            print(self.get_values())
            sleep(0.05)
