mpu6050.cpp

// MPU6050 IMU starter code

// include necessary files for MPU6050
#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>
#include <Wire.h>

// declare MPU6050 object
Adafruit_MPU6050 mpu;

// put your setup code here, to run once:
void setup() {
  // Open serial communications and wait for port to open:
  Serial.begin(9600);
  // wait for serial port to connect. Needed for native USB port only
  while (!Serial);

  // setup the mpu
  mpu6050_setup();
  delay(100);
}

// put your main code here, to run repeatedly:
void loop() {

  /* Get new sensor events with the readings */
  sensors_event_t a, g, temp;
  mpu.getEvent(&a, &g, &temp);

  //Roll & Pitch Equations
  float roll  = (atan2(-a.acceleration.y, a.acceleration.z)*180.0)/M_PI;
  float pitch = (atan2(a.acceleration.x, sqrt(a.acceleration.y*a.acceleration.y
                  + a.acceleration.z*a.acceleration.z))*180.0)/M_PI;

  // Print out the values
  // acceleration
  Serial.print("Acceleration X: ");
  Serial.print(a.acceleration.x);
  Serial.print(", Y: ");
  Serial.print(a.acceleration.y);
  Serial.print(", Z: ");
  Serial.print(a.acceleration.z);
  Serial.println(" m/s^2");
  // angular velocity
  Serial.print("Rotation X: ");
  Serial.print(g.gyro.x);
  Serial.print(", Y: ");
  Serial.print(g.gyro.y);
  Serial.print(", Z: ");
  Serial.print(g.gyro.z);
  Serial.println(" rad/s");
  // temperature
  Serial.print("Temperature: ");
  Serial.print(temp.temperature);
  Serial.println(" degC");
  // roll and pitch
  Serial.print("Roll: ");
  Serial.println(roll);
  Serial.print("Roll: ");
  Serial.println(pitch);
  Serial.println("");

}






// setup function for the MPU_6050
// ignore for now.
void mpu6050_setup() {
  Serial.println("Adafruit MPU6050 test!");

  // Try to initialize!
  if (!mpu.begin()) {
    Serial.println("Failed to find MPU6050 chip");
    while (1) {
      delay(10);
    }
  }
  Serial.println("MPU6050 Found!");

  mpu.setAccelerometerRange(MPU6050_RANGE_8_G);
  Serial.print("Accelerometer range set to: ");
  switch (mpu.getAccelerometerRange()) {
  case MPU6050_RANGE_2_G:
    Serial.println("+-2G");
    break;
  case MPU6050_RANGE_4_G:
    Serial.println("+-4G");
    break;
  case MPU6050_RANGE_8_G:
    Serial.println("+-8G");
    break;
  case MPU6050_RANGE_16_G:
    Serial.println("+-16G");
    break;
  }
  mpu.setGyroRange(MPU6050_RANGE_500_DEG);
  Serial.print("Gyro range set to: ");
  switch (mpu.getGyroRange()) {
  case MPU6050_RANGE_250_DEG:
    Serial.println("+- 250 deg/s");
    break;
  case MPU6050_RANGE_500_DEG:
    Serial.println("+- 500 deg/s");
    break;
  case MPU6050_RANGE_1000_DEG:
    Serial.println("+- 1000 deg/s");
    break;
  case MPU6050_RANGE_2000_DEG:
    Serial.println("+- 2000 deg/s");
    break;
  }

  mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);
  Serial.print("Filter bandwidth set to: ");
  switch (mpu.getFilterBandwidth()) {
  case MPU6050_BAND_260_HZ:
    Serial.println("260 Hz");
    break;
  case MPU6050_BAND_184_HZ:
    Serial.println("184 Hz");
    break;
  case MPU6050_BAND_94_HZ:
    Serial.println("94 Hz");
    break;
  case MPU6050_BAND_44_HZ:
    Serial.println("44 Hz");
    break;
  case MPU6050_BAND_21_HZ:
    Serial.println("21 Hz");
    break;
  case MPU6050_BAND_10_HZ:
    Serial.println("10 Hz");
    break;
  case MPU6050_BAND_5_HZ:
    Serial.println("5 Hz");
    break;
  }

  Serial.println("");
}