セグウェイを自作してみた ～電子回路組立編～ ref: http://qiita.com/sasaco/items/b72819993790443877ec

file1.txt

MPU6050 connection successful
Initializing Mortor Driver digital pins...
3.80    -2.61   62.21   
4.21    -2.29   59.24   
3.96    -2.11   59.01   
4.10    -2.42   60.26   
3.86    -2.58   61.87   
3.46    -2.83   64.63   
4.27    -2.49   60.12   
3.84    -2.40   60.95   
4.26    -2.19   58.56   
4.01    -2.33   60.09   
3.95    -2.30   60.09       
4.12    -2.50   60.62       
3.65    -2.47   62.04       
3.86    -2.14   59.49       
3.87    -2.55   61.66       
4.10    -2.40   60.14       
3.74    -2.94   64.09       
3.89    -2.22   59.84       
3.85    -2.22   59.97       
3.81    -3.00   64.11       
3.96    -2.01   58.46       

test.ino

#include "Wire.h"
#include "I2Cdev.h"
#include "MPU6050.h"

/*  MPU-6050 Accelerometer + Gyro */
MPU6050 accelgyro;

void setup() {

    Wire.begin();
    Serial.begin(9600);

    // initialize device
    accelgyro.initialize();
    Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");

}

void loop() {

  int16_t ax, ay, az;
  int16_t gx, gy, gz;
  accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
  float acc_x = ax / 16384.0;
  float acc_y = ay / 16384.0; 
  float acc_z = az / 16384.0; 
  float rate_X = atan2(acc_x, acc_z) * 360 / 2.0 / PI; 
  float rate_Y = atan2(acc_y, acc_z) * 360 / 2.0 / PI;
  float rate_Z = atan2(acc_x, acc_y) * 180 / 2.0 / PI;

  Serial.print(rate_X);
  Serial.print("\t"); 
  Serial.print(rate_Y);
  Serial.print("\t"); 
  Serial.print(rate_Z);
  Serial.print("\t"); 
  Serial.println("");
 }