MPU6050 - Acceleromter and Gyroscope

The MPU6050 is a acceleration sensor and gyroscope using the I2C-protocol for communication.

Library

To use the MPU6050, import the library mpu6050

import mpu6050

Function Reference

Open Device

Open()
Open(interface)
Open(interface, address)

Open the MPU6050 on interface interface with I2C address address.

• interface
  • String
  • Path to I2C-Interface.
  • Optional parameter. Default value is "/dev/i2c-1"
• address
  • Integer: 0 … 255
  • Device address
  • Optional parameter. Default value is 0x68.

Example:

Open("/dev/i2c-1", 0x68)

Measure Acceleration

a = Acceleration()

Measure acceleration in x, y and z direction.

• a
  • 1D-array of 3 float
  • a[0]: acceleration in x
  • a[1]: acceleration in y
  • a[2]: acceleration in z
  • in m/s^2

Read Gyroscope

g = Gyroscope()

Read gyroscope data in x, y and z direction.

• g
  • 1D-array of 3 float
  • g[0]: in x
  • g[1]: in y
  • g[2]: in z
  • in °/s

Measure Temperature

t = Temperature()

Measure temperature in °C.

• t
  • Float
  • Temperature in °C

Configure Gyrscope

GyroscopeConfig(range)

Sets the full scale range of the gyroscope. range can have the values 250, 500, 1000, or 2000 in °/s.

• range
  • Integer: 250, 500, 1000, or 2000
  • Full scale range in °/s

Configure Acceleromter

AccelerationConfig(range)

Sets the full scale range of the acceleromter. range can have the values 2, 4, 8, or 16 in g (9.81 m/s^2).

• range
  • Integer: 2, 4, 8, or 16
  • Full scale range in g (9.81 m/s^2)

Close device

Close()

Close the MPU6050 device.

Example

For running this example, you need a MPU6050. SmallBASIC PiGPIO 2 is using the I2C-protocol for communication. The Raspberry Pi supports this protocol in hardware, but by default the protocol is disabled. Therefore you have to setup I2C as described here.

In the next step please wire the sensor as shown in the following image.

The I2C bus is using pin 2 (SDA) and 3 (SCL). The sensor can be driven with a voltage of 3.3V.

import mpu6050

mpu6050.open("/dev/i2c-1", 0x68)

delay(500)

for ii = 1 to 1000
    A = mpu6050.Acceleration()
    G = mpu6050.Gyroscope()
    T = mpu6050.Temperature()

    locate 5,0
    print "Acc: [";
    print USING "##.00 "; A[0], A[1], A[2];
    print "]  Gryo: [";
    print USING "####.00 "; G[0], G[1], G[2];
    print "] Temp : ";
    print USING "##.00 "; T

    delay(100)
next