server.py

#!/usr/bin/python
#This python program serves a web page which can be accessed via 
#local wifi network, giving x and y rotations of the MPU-6050
# Written by Andrew Birkett 
# (http://blog.bitify.co.uk/2013/11/3d-opengl-visualisation-of-data-from.html)
# and modified by S&S Dec 2014
import web
import smbus
import math

urls = (
    '/', 'index'
)

# Power management registers
power_mgmt_1 = 0x6b
power_mgmt_2 = 0x6c

bus = smbus.SMBus(1) # or bus = smbus.SMBus(0) for pre-Revision 2 boards
address = 0x68       # This is the address value read via the i2cdetect command


def read_byte(adr):
    return bus.read_byte_data(address, adr)

def read_word(adr):
    high = bus.read_byte_data(address, adr)
    low = bus.read_byte_data(address, adr+1)
    val = (high << 8) + low
    return val

def read_word_2c(adr):
    val = read_word(adr)
    if (val >= 0x8000):
        return -((65535 - val) + 1)
    else:
        return val

def dist(a,b):
    return math.sqrt((a*a)+(b*b))

def get_y_rotation(x,y,z):
    radians = math.atan2(x, dist(y,z))
    return -math.degrees(radians)

def get_x_rotation(x,y,z):
    radians = math.atan2(y, dist(x,z))
    return math.degrees(radians)


class index:
    def GET(self):
        accel_xout = read_word_2c(0x3b)
        accel_yout = read_word_2c(0x3d)
        accel_zout = read_word_2c(0x3f)

        accel_xout_scaled = accel_xout / 16384.0
        accel_yout_scaled = accel_yout / 16384.0
        accel_zout_scaled = accel_zout / 16384.0
        
        xrot = get_x_rotation(accel_xout_scaled, accel_yout_scaled, accel_zout_scaled)
        yrot = get_y_rotation(accel_xout_scaled, accel_yout_scaled, accel_zout_scaled)
        
        # Return angle values to 1 decimal place
        return "x-rotation: %.1f" %xrot+" degrees. y-rotation: %.1f" %yrot+" degrees" 

if __name__ == "__main__":

    # Now wake the 6050 up as it starts in sleep mode
    bus.write_byte_data(address, power_mgmt_1, 0)

    app = web.application(urls, globals())
    app.run()