Bonsoir je partage mon code si sa peut aider, il est extrêmement simple il suffit juste d'avoir des notions en trigo.
#include "Wire.h"
#include "math.h"
#include "I2Cdev.h"
#include "MPU6050.h"
MPU6050 acc;
int ax, ay, az;
void setup() {
Wire.begin();
Serial.begin(38400);
Serial.println("Initializing MPU6050...");
acc.initialize();
Serial.println("Testing MPU6050 connection...");
Serial.println(acc.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
}
void loop() {
acc.getAcceleration(&ax, &ay, &az);
float accXangleDeg = (atan2(ay,az)*180)/PI;
float accYangleDeg = (atan2(ax,az)*180)/PI;
float accXangleRad = accXangleDeg * DEG_TO_RAD;
float accYangleRad = accYangleDeg * DEG_TO_RAD;
Serial.print("RawX: "), Serial.print(ax), Serial.print(" ");
Serial.print("RawY: "), Serial.print(ay), Serial.print(" ");
Serial.print("RawZ: "), Serial.print(az), Serial.print(" ");
Serial.print("xAngleDeg: "), Serial.print(accXangleDeg), Serial.print(" ");
Serial.print("yAngleDeg: "), Serial.print(accYangleDeg), Serial.print(" ");
Serial.print("xAngleRad: "), Serial.print(accXangleRad), Serial.print(" ");
Serial.print("yAngleRad: "), Serial.print(accYangleRad), Serial.println(" ");
delay(100);