MPU6050, adapting to work on Teensy 4.1

Other Hardware Sensors
1

So I have been working with the mpu6050 using the standard MPU 6050 Library I modified it with a while statement and used micros instead of millis, This code works great on a uno and a mega that I have. But once I got my teensy 4.1 it does not seem to work at all. The gyro values seem to fine expect the setpoint jumps from 0 -4000 randomly. Does anyone have any resources for why the mpu6050 code would not be the same on a teensy, do you have any other recommend libraries?

I also attempted to make an if statement only calling the sensor when .004 seconds have passed but that crashed the Arduino monitor! Any info is greatly apprecieted.
dt=.004


void loop()
{
  
  Vector normAccel = mpu.readNormalizeAccel();
  a_pitch = -(atan2(normAccel.XAxis, sqrt(normAccel.YAxis*normAccel.YAxis + normAccel.ZAxis*normAccel.ZAxis))*180.0)/M_PI;
  a_roll = (atan2(normAccel.YAxis, normAccel.ZAxis)*180.0)/M_PI;
  Vector norm = mpu.readNormalizeGyro();
  g_x =  norm.YAxis;
  g_y =  norm.XAxis;
  g_z =  norm.ZAxis;
  
  

  Serial.println(g_x);
  
  while(micros()-timer < (dt*1000000))
  timer = micros();


}

Capture
Capture806×383 17.5 KB

2

Can you show the full sketch ?

That is not a standard library and it has bugs.

The Adafruit library for the MPU-6050 has multiple layers. You need to install a few other libraries. I don't know if it works on a Teensy 4.1.

3

Thank you for the reply, i ended up just using no library for the mpu6050 and following the i2c protocol this has helped me tremendously.

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