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README.md
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# mpu6050
This is a copy of the following library:
[MPU6050_tockn](https://github.com/tockn/MPU6050_tockn)
This copy does contains small changes.
## Getting started
To make it easy for you to get started with GitLab, here's a list of recommended next steps.
Already a pro? Just edit this README.md and make it your own. Want to make it easy? [Use the template at the bottom](#editing-this-readme)!
## Add your files
- [ ] [Create](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#create-a-file) or [upload](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#upload-a-file) files
- [ ] [Add files using the command line](https://docs.gitlab.com/ee/gitlab-basics/add-file.html#add-a-file-using-the-command-line) or push an existing Git repository with the following command:
```
cd existing_repo
git remote add origin https://gitlab.com/jusax23/mpu6050.git
git branch -M main
git push -uf origin main
```
## Integrate with your tools
- [ ] [Set up project integrations](https://gitlab.com/jusax23/mpu6050/-/settings/integrations)
## Collaborate with your team
- [ ] [Invite team members and collaborators](https://docs.gitlab.com/ee/user/project/members/)
- [ ] [Create a new merge request](https://docs.gitlab.com/ee/user/project/merge_requests/creating_merge_requests.html)
- [ ] [Automatically close issues from merge requests](https://docs.gitlab.com/ee/user/project/issues/managing_issues.html#closing-issues-automatically)
- [ ] [Enable merge request approvals](https://docs.gitlab.com/ee/user/project/merge_requests/approvals/)
- [ ] [Automatically merge when pipeline succeeds](https://docs.gitlab.com/ee/user/project/merge_requests/merge_when_pipeline_succeeds.html)
## Test and Deploy
Use the built-in continuous integration in GitLab.
- [ ] [Get started with GitLab CI/CD](https://docs.gitlab.com/ee/ci/quick_start/index.html)
- [ ] [Analyze your code for known vulnerabilities with Static Application Security Testing(SAST)](https://docs.gitlab.com/ee/user/application_security/sast/)
- [ ] [Deploy to Kubernetes, Amazon EC2, or Amazon ECS using Auto Deploy](https://docs.gitlab.com/ee/topics/autodevops/requirements.html)
- [ ] [Use pull-based deployments for improved Kubernetes management](https://docs.gitlab.com/ee/user/clusters/agent/)
- [ ] [Set up protected environments](https://docs.gitlab.com/ee/ci/environments/protected_environments.html)
***
# Editing this README
When you're ready to make this README your own, just edit this file and use the handy template below (or feel free to structure it however you want - this is just a starting point!). Thank you to [makeareadme.com](https://www.makeareadme.com/) for this template.
## Suggestions for a good README
Every project is different, so consider which of these sections apply to yours. The sections used in the template are suggestions for most open source projects. Also keep in mind that while a README can be too long and detailed, too long is better than too short. If you think your README is too long, consider utilizing another form of documentation rather than cutting out information.
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## Usage
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## Support
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## Roadmap
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## Contributing
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# Licence
MIT

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#include <MPU6050_tockn.h>
#include <Wire.h>
MPU6050 mpu6050(Wire);
long timer = 0;
void setup() {
Serial.begin(9600);
Wire.begin();
mpu6050.begin();
mpu6050.calcGyroOffsets(true);
}
void loop() {
mpu6050.update();
if(millis() - timer > 1000){
Serial.println("=======================================================");
Serial.print("temp : ");Serial.println(mpu6050.getTemp());
Serial.print("accX : ");Serial.print(mpu6050.getAccX());
Serial.print("\taccY : ");Serial.print(mpu6050.getAccY());
Serial.print("\taccZ : ");Serial.println(mpu6050.getAccZ());
Serial.print("gyroX : ");Serial.print(mpu6050.getGyroX());
Serial.print("\tgyroY : ");Serial.print(mpu6050.getGyroY());
Serial.print("\tgyroZ : ");Serial.println(mpu6050.getGyroZ());
Serial.print("accAngleX : ");Serial.print(mpu6050.getAccAngleX());
Serial.print("\taccAngleY : ");Serial.println(mpu6050.getAccAngleY());
Serial.print("gyroAngleX : ");Serial.print(mpu6050.getGyroAngleX());
Serial.print("\tgyroAngleY : ");Serial.print(mpu6050.getGyroAngleY());
Serial.print("\tgyroAngleZ : ");Serial.println(mpu6050.getGyroAngleZ());
Serial.print("angleX : ");Serial.print(mpu6050.getAngleX());
Serial.print("\tangleY : ");Serial.print(mpu6050.getAngleY());
Serial.print("\tangleZ : ");Serial.println(mpu6050.getAngleZ());
Serial.println("=======================================================\n");
timer = millis();
}
}

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#include <MPU6050_tockn.h>
#include <Wire.h>
MPU6050 mpu6050(Wire);
void setup() {
Serial.begin(9600);
Wire.begin();
mpu6050.begin();
mpu6050.calcGyroOffsets(true);
}
void loop() {
mpu6050.update();
Serial.print("angleX : ");
Serial.print(mpu6050.getAngleX());
Serial.print("\tangleY : ");
Serial.print(mpu6050.getAngleY());
Serial.print("\tangleZ : ");
Serial.println(mpu6050.getAngleZ());
}

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name=mpu6050
version=1.0.0
author=tockn
maintainer=jusax23
sentence=Arduino library for easy communicating with the MPU6050.
paragraph=It acces get accel, gyro, and angle data.
category=Sensors
url=https://gitlab.com/jusax23/mpu6050
architectures=*

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#include "MPU6050_jusax23.h"
#include "Arduino.h"
MPU6050::MPU6050(TwoWire &w){
wire = &w;
accCoef = 0.02f;
gyroCoef = 0.98f;
}
MPU6050::MPU6050(TwoWire &w, float aC, float gC){
wire = &w;
accCoef = aC;
gyroCoef = gC;
}
void MPU6050::begin(){
writeMPU6050(MPU6050_SMPLRT_DIV, 0x00);
writeMPU6050(MPU6050_CONFIG, 0x00);
writeMPU6050(MPU6050_GYRO_CONFIG, 0x08);
writeMPU6050(MPU6050_ACCEL_CONFIG, 0x00);
writeMPU6050(MPU6050_PWR_MGMT_1, 0x01);
this->update();
angleGyroX = 0;
angleGyroY = 0;
angleX = this->getAccAngleX();
angleY = this->getAccAngleY();
preInterval = millis();
}
void MPU6050::writeMPU6050(byte reg, byte data){
wire->beginTransmission(MPU6050_ADDR);
wire->write(reg);
wire->write(data);
wire->endTransmission();
}
byte MPU6050::readMPU6050(byte reg) {
wire->beginTransmission(MPU6050_ADDR);
wire->write(reg);
wire->endTransmission(true);
wire->requestFrom(MPU6050_ADDR, 1);
byte data = wire->read();
return data;
}
void MPU6050::setGyroOffsets(float x, float y, float z){
gyroXoffset = x;
gyroYoffset = y;
gyroZoffset = z;
}
void MPU6050::calcGyroOffsets(bool console, uint16_t delayBefore, uint16_t delayAfter){
float x = 0, y = 0, z = 0;
int16_t rx, ry, rz;
delay(delayBefore);
if(console){
Serial.println();
Serial.println("========================================");
Serial.println("Calculating gyro offsets");
Serial.print("DO NOT MOVE MPU6050");
}
for(int i = 0; i < 3000; i++){
if(console && i % 1000 == 0){
Serial.print(".");
}
wire->beginTransmission(MPU6050_ADDR);
wire->write(0x43);
wire->endTransmission(false);
wire->requestFrom((int)MPU6050_ADDR, 6);
rx = wire->read() << 8 | wire->read();
ry = wire->read() << 8 | wire->read();
rz = wire->read() << 8 | wire->read();
x += ((float)rx) / 65.5;
y += ((float)ry) / 65.5;
z += ((float)rz) / 65.5;
}
gyroXoffset = x / 3000;
gyroYoffset = y / 3000;
gyroZoffset = z / 3000;
if(console){
Serial.println();
Serial.println("Done!");
Serial.print("X : ");Serial.println(gyroXoffset);
Serial.print("Y : ");Serial.println(gyroYoffset);
Serial.print("Z : ");Serial.println(gyroZoffset);
Serial.println("Program will start after 3 seconds");
Serial.print("========================================");
delay(delayAfter);
}
}
void MPU6050::update(){
wire->beginTransmission(MPU6050_ADDR);
wire->write(0x3B);
wire->endTransmission(false);
wire->requestFrom((int)MPU6050_ADDR, 14);
rawAccX = wire->read() << 8 | wire->read();
rawAccY = wire->read() << 8 | wire->read();
rawAccZ = wire->read() << 8 | wire->read();
rawTemp = wire->read() << 8 | wire->read();
rawGyroX = wire->read() << 8 | wire->read();
rawGyroY = wire->read() << 8 | wire->read();
rawGyroZ = wire->read() << 8 | wire->read();
temp = (rawTemp + 12412.0) / 340.0;
accX = ((float)rawAccX) / 16384.0;
accY = ((float)rawAccY) / 16384.0;
accZ = ((float)rawAccZ) / 16384.0;
/*accX -= 0.04f;
accZ -= 0.3f;*/
/*angleAccX = atan2(accY, accZ + abs(accX)) * 360 / 2.0 / PI;
angleAccY = atan2(accX, accZ + abs(accY)) * 360 / -2.0 / PI;*/
angleAccX = atan2(accY, sqrt(accZ * accZ + accX * accX)) * 360 / 2.0 / PI;
angleAccY = atan2(accX, sqrt(accZ * accZ + accY * accY)) * 360 / -2.0 / PI;
gyroX = ((float)rawGyroX) / 65.5;
gyroY = ((float)rawGyroY) / 65.5;
gyroZ = ((float)rawGyroZ) / 65.5;
gyroX -= gyroXoffset;
gyroY -= gyroYoffset;
gyroZ -= gyroZoffset;
nowInterval = millis();
interval = (nowInterval - preInterval) * 0.001;
preInterval = nowInterval;
angleGyroX += gyroX * interval;
angleGyroY += gyroY * interval;
angleGyroZ += gyroZ * interval;
angleX = (gyroCoef * (angleX + gyroX * interval)) + (accCoef * angleAccX);
angleY = (gyroCoef * (angleY + gyroY * interval)) + (accCoef * angleAccY);
angleZ = angleGyroZ;
angleY -= angleX * sin(gyroZ * interval * (PI / 180)); //If the IMU has yawed transfer the roll angle to the pitch angel.
angleX += angleY * sin(gyroZ * interval * (PI / 180));
}

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#ifndef MPU6050_jusax23_H
#define MPU6050_jusax23_H
#include "Arduino.h"
#include "Wire.h"
#define MPU6050_ADDR 0x68
#define MPU6050_SMPLRT_DIV 0x19
#define MPU6050_CONFIG 0x1a
#define MPU6050_GYRO_CONFIG 0x1b
#define MPU6050_ACCEL_CONFIG 0x1c
#define MPU6050_WHO_AM_I 0x75
#define MPU6050_PWR_MGMT_1 0x6b
#define MPU6050_TEMP_H 0x41
#define MPU6050_TEMP_L 0x42
class MPU6050{
public:
MPU6050(TwoWire &w);
MPU6050(TwoWire &w, float aC, float gC);
void begin();
void setGyroOffsets(float x, float y, float z);
void writeMPU6050(byte reg, byte data);
byte readMPU6050(byte reg);
int16_t getRawAccX(){ return rawAccX; };
int16_t getRawAccY(){ return rawAccY; };
int16_t getRawAccZ(){ return rawAccZ; };
int16_t getRawTemp(){ return rawTemp; };
int16_t getRawGyroX(){ return rawGyroX; };
int16_t getRawGyroY(){ return rawGyroY; };
int16_t getRawGyroZ(){ return rawGyroZ; };
float getTemp(){ return temp; };
float getAccX(){ return accX; };
float getAccY(){ return accY; };
float getAccZ(){ return accZ; };
float getGyroX(){ return gyroX; };
float getGyroY(){ return gyroY; };
float getGyroZ(){ return gyroZ; };
void calcGyroOffsets(bool console = false, uint16_t delayBefore = 1000, uint16_t delayAfter = 3000);
float getGyroXoffset(){ return gyroXoffset; };
float getGyroYoffset(){ return gyroYoffset; };
float getGyroZoffset(){ return gyroZoffset; };
void update();
float getAccAngleX(){ return angleAccX; };
float getAccAngleY(){ return angleAccY; };
float getGyroAngleX(){ return angleGyroX; };
float getGyroAngleY(){ return angleGyroY; };
float getGyroAngleZ(){ return angleGyroZ; };
float getAngleX(){ return angleX; };
float getAngleY(){ return angleY; };
float getAngleZ(){ return angleZ; };
private:
TwoWire *wire;
int16_t rawAccX, rawAccY, rawAccZ, rawTemp,
rawGyroX, rawGyroY, rawGyroZ;
float gyroXoffset, gyroYoffset, gyroZoffset;
float temp, accX, accY, accZ, gyroX, gyroY, gyroZ;
float angleGyroX, angleGyroY, angleGyroZ,
angleAccX, angleAccY, angleAccZ;
float angleX, angleY, angleZ;
float interval;
long preInterval;
long nowInterval;
float accCoef, gyroCoef;
};
#endif