sensor-accelerometer-and-gyroscope-mpu-6050.md

Accelerometer & Gyroscope Sensor (MPU-6050)

The MPU-6050 sensor contains both an accelerometer and a gyroscope in the same component. It is a very accurate sensor that captures in real time acceleration 🚀 and rotation 💫 in the x, y and z axis. Reading raw values is relatively easy, but figuring out what to do with them can be more challenging.

?> 📚 Library: for the following code to work you will need to install the Sensors library by James Smith. To install it, go to Deviot > Find/Install Library and search for Sensors, it should be the first result.

The following code initializes a connection with the sensor and makes use of a library to display data from the accelerometer and gyroscope in real time. On a side note, for the NodeMCU 1.0 microcontroller, the default configuration for I²C communication is to connect D1 to SCL and D2 to SDA. However, if you need to use other pins, you just need to specify them as parameters of the Wire.begin(int SDA, int SCL) function.

#define SENSORS_MPU6050_ATTACHED

#include <Sensors.h>
#include <Wire.h>

void setup()
{
    Serial.begin(115200);
    Wire.begin();
    Sensors::initialize();
}

void loop() {
    Accelerometer *accelerometer = Sensors::getAccelerometer();
    if(accelerometer) {
        Vector3 a = accelerometer->getAcceleration();
        Serial.print("Acceleration (m/s^2)  ");
        Serial.print(a.x);
        Serial.print(", ");
        Serial.print(a.y);
        Serial.print(", ");
        Serial.println(a.z);
    }

    Gyroscope *gyroscope = Sensors::getGyroscope();
    if(gyroscope) {
        Vector3 g = gyroscope->getRotation();
        Serial.print("Rotation (rad/s)      ");
        Serial.print(g.x);
        Serial.print(", ");
        Serial.print(g.y);
        Serial.print(", ");
        Serial.println(g.z);
    }
}