CODE MẪU

#include "Wire.h"

#include "I2Cdev.h"

#include "MPU6050.h"

default for InvenSense evaluation board)

// AD0 high = 0x69

MPU6050 accelgyro;

int16_t ax, ay, az;

int16_t gx, gy, gz;

#define LED_PIN 13

bool blinkState = false;

void setup() {

    Wire.begin();

    Serial.begin(38400);

    Serial.println("Initializing I2C devices...");

    accelgyro.initialize();

    // verify connection

    Serial.println("Testing device connections...");

    Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");

    pinMode(LED_PIN, OUTPUT);

}

void loop() {

    accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);

    Serial.print("a/g:\t");

    Serial.print(ax); Serial.print("\t");

    Serial.print(ay); Serial.print("\t");

    Serial.print(az); Serial.print("\t");

    Serial.print(gx); Serial.print("\t");

    Serial.print(gy); Serial.print("\t");

    Serial.println(gz);

    blinkState = !blinkState;

    digitalWrite(LED_PIN, blinkState);

}