#include "Wire.h"// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files// for both classes must be in the include path of your project#include "I2Cdev.h"#include "MPU6050_6Axis_MotionApps20.h"//#include "MPU6050.h" // not necessary if using MotionApps include file// class default I2C address is 0x68// specific I2C addresses may be passed as a parameter here// AD0 low = 0x68 (default for SparkFun breakout and InvenSense evaluation board)// AD0 high = 0x69MPU6050 mpu;/* ========================================================================= NOTE: In addition to connection 3.3v, GND, SDA, and SCL, this sketch depends on the MPU-6050's INT pin being connected to the Arduino's external interrupt #0 pin. On the Arduino Uno and Mega 2560, this is digital I/O pin 2. * ========================================================================= *//* ========================================================================= NOTE: Arduino v1.0.1 with the Leonardo board generates a compile error when using Serial.write(buf, len). The Teapot output uses this method. The solution requires a modification to the Arduino USBAPI.h file, which is fortunately simple, but annoying. This will be fixed in the next IDE release. For more info, see these links: http://arduino.cc/forum/index.php/topic,109987.0.html http://code.google.com/p/arduino/issues/detail?id=958 * ========================================================================= */// uncomment "OUTPUT_READABLE_QUATERNION" if you want to see the actual// quaternion components in a [w, x, y, z] format (not best for parsing// on a remote host such as Processing or something though)//#define OUTPUT_READABLE_QUATERNION// uncomment "OUTPUT_READABLE_EULER" if you want to see Euler angles// (in degrees) calculated from the quaternions coming from the FIFO.// Note that Euler angles suffer from gimbal lock (for more info, see// http://en.wikipedia.org/wiki/Gimbal_lock)//#define OUTPUT_READABLE_EULER// uncomment "OUTPUT_READABLE_YAWPITCHROLL" if you want to see the yaw/// pitch/roll angles (in degrees) calculated from the quaternions coming// from the FIFO. Note this also requires gravity vector calculations.// Also note that yaw/pitch/roll angles suffer from gimbal lock (for// more info, see: http://en.wikipedia.org/wiki/Gimbal_lock)#define OUTPUT_READABLE_YAWPITCHROLL// uncomment "OUTPUT_READABLE_REALACCEL" if you want to see acceleration// components with gravity removed. This acceleration reference frame is// not compensated for orientation, so +X is always +X according to the// sensor, just without the effects of gravity. If you want acceleration// compensated for orientation, us OUTPUT_READABLE_WORLDACCEL instead.#define OUTPUT_READABLE_REALACCEL// uncomment "OUTPUT_READABLE_WORLDACCEL" if you want to see acceleration// components with gravity removed and adjusted for the world frame of// reference (yaw is relative to initial orientation, since no magnetometer// is present in this case). Could be quite handy in some cases.//#define OUTPUT_READABLE_WORLDACCEL// uncomment "OUTPUT_TEAPOT" if you want output that matches the// format used for the InvenSense teapot demo//#define OUTPUT_TEAPOT
Initializing I2C devices...Testing device connections...MPU6050 connection successfulSend any character to begin DMP programming and demo: Initializing DMP...Enabling DMP...Enabling interrupt detection (Arduino external interrupt 0)...DMP ready! Waiting for first interrupt...ypr 0.09 -2.43 8.77areal -111 379 2561ypr 0.07 -2.45 8.82areal -144 464 3145ypr 0.05 -2.46 8.86areal -163 524 3579ypr 0.03 -2.48 8.91areal -174 562 3896
To get that fancy display to work, you need to have the "Processing" working on your computer, and then find some libraries for it.I don't recall all the details now, but it was quite a hassle to get it to work.