MPU6050.py

#!/usr/bin/python

import sys
import smbus
import math
import time
import datetime

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

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)

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

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


start = datetime.datetime.now()
end = start+datetime.timedelta(seconds=60)
print start
now = datetime.datetime.now()
while 1:
	#now = datetime.now()
	gyro_xout = read_word_2c(0x43)
	gyro_yout = read_word_2c(0x45)
	gyro_zout = read_word_2c(0x47)
	
	accel_xout = read_word_2c(0x3b)
	accel_yout = read_word_2c(0x3d)
	accel_zout = read_word_2c(0x3f)
	
	print "%s,%d,%d,%d,%d,%d,%d"%(datetime.datetime.now()-start,accel_xout,accel_yout,accel_zout,gyro_xout,gyro_yout,gyro_zout)
	#time.sleep(0.5)
	if end-datetime.datetime.now()<datetime.timedelta(seconds=0):
		sys.exit(0)