Simple test

Ensure your device works with this simple test.

examples/mpu6050_simpletest.py
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# SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries
# SPDX-License-Identifier: MIT

import time
import board
import adafruit_mpu6050

i2c = board.I2C()  # uses board.SCL and board.SDA
mpu = adafruit_mpu6050.MPU6050(i2c)

while True:
    print("Acceleration: X:%.2f, Y: %.2f, Z: %.2f m/s^2" % (mpu.acceleration))
    print("Gyro X:%.2f, Y: %.2f, Z: %.2f rad/s" % (mpu.gyro))
    print("Temperature: %.2f C" % mpu.temperature)
    print("")
    time.sleep(1)

Plotter Example

See the effects of changing the gyroscope and accelerometer range by viewing the data in a serial plotter

examples/mpu6050_plotter_example.py
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# SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries
# SPDX-License-Identifier: MIT

import time
import board
import adafruit_mpu6050

i2c = board.I2C()  # uses board.SCL and board.SDA
mpu = adafruit_mpu6050.MPU6050(i2c)
mpu.accelerometer_range = adafruit_mpu6050.Range.RANGE_2_G
mpu.gyro_range = adafruit_mpu6050.GyroRange.RANGE_250_DPS

while True:
    # this prints out all the values like a tuple which Mu's plotter prefer
    print("(%.2f, %.2f, %.2f " % (mpu.acceleration), end=", ")
    print("%.2f, %.2f, %.2f)" % (mpu.gyro))
    time.sleep(0.010)

Sleep Example

Observe how the cycle and sleep modes effect measurements by viewing the data in a serial plotter

examples/mpu6050_sleep_example.py
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# SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries
# SPDX-License-Identifier: MIT

import time
import board
import adafruit_mpu6050

i2c = board.I2C()  # uses board.SCL and board.SDA
mpu = adafruit_mpu6050.MPU6050(i2c)

# This example is meant to be used with the serial plotter which makes
# it easier to see how the readings change with different settings.
# Make sure to poke and prod the sensor while the demo is running to
# generate some interesting data!

while True:
    # first show some 'normal' readings

    mpu.sleep = False
    mpu.cycle = False

    for count in range(0, 100):
        print(mpu.acceleration)
        time.sleep(0.010)

    # Next, set a slow cycle rate so the effect can be seen clearly.
    mpu.cycle_Rate = adafruit_mpu6050.Rate.CYCLE_5_HZ
    # ensure that we're not sleeping or cycle won't work
    mpu.sleep = False
    # Finally, enable cycle mode
    mpu.cycle = True

    for count in range(0, 100):
        print(mpu.acceleration)
        time.sleep(0.010)

    # Finally enable sleep mode. Note that while we can still fetch
    #  data from the measurement registers, the measurements are not
    #  updated. In sleep mode the accelerometer and gyroscope are
    #  deactivated to save power, so measurements are halted.

    mpu.cycle = False
    mpu.sleep = True

    for count in range(0, 100):
        print(mpu.acceleration)
        time.sleep(0.010)

Inclinometer Example

Provides an example on how to use the sensor as an inclinometer

examples/mpu6050_inclinometer.py
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# SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries
# SPDX-License-Identifier: MIT

# Display inclination data five times per second

# See this page to learn the math and physics principals behind this example:
# https://learn.adafruit.com/how-tall-is-it/gravity-and-acceleration

import time
from math import atan2, degrees
import board
import adafruit_mpu6050

i2c = board.I2C()  # uses board.SCL and board.SDA
sensor = adafruit_mpu6050.MPU6050(i2c)


# Given a point (x, y) return the angle of that point relative to x axis.
# Returns: angle in degrees


def vector_2_degrees(x, y):
    angle = degrees(atan2(y, x))
    if angle < 0:
        angle += 360
    return angle


# Given an accelerometer sensor object return the inclination angles of X/Z and Y/Z
# Returns: tuple containing the two angles in degrees


def get_inclination(_sensor):
    x, y, z = _sensor.acceleration
    return vector_2_degrees(x, z), vector_2_degrees(y, z)


while True:
    angle_xz, angle_yz = get_inclination(sensor)
    print("XZ angle = {:6.2f}deg   YZ angle = {:6.2f}deg".format(angle_xz, angle_yz))
    time.sleep(0.2)