MPU-6050Read accel, temp and gyro, error = 0accel x,y,z: -2120, 108, 17856temperature: 20.224 degrees Celsiusgyro x,y,z : 236, -164, -98,
#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 -0.16 7.15 0.27areal 320 9 2572ypr -0.19 7.13 0.31areal 398 11 3163ypr -0.21 7.11 0.36areal 452 10 3598
import toxi.geom.*;import toxi.processing.*;
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