MPU6050 GY521 Cheap 6DOF IMU (Accelerometer & Gyro)

The MPU-6050 is cheap IMU sensor, it combines both an accelerometer, temprature and a gyro in very smal board.

The InvenSense MPU-6050 sensor contains a MEMS accelerometer and a MEMS gyro in a single chip. It is very accurate, as it contains 16-bits analog to digital conversion hardware for each channel. Therefor it captures the x, y, and z channel at the same time. The sensor uses the I2C-bus to interface with the Arduino.

The sensor uses the I2C-bus to interface with the Arduino.

MPU-6050 modules (three-axis gyroscope + three-axis accelerometer and one data for temprature too!)

• Power supply : 5V
• Communication modes: standard IIC communications protocol
• Chip built-in 16bit AD converter, 16-bit data output
• Gyroscope range:  250 500 1000 2000 ° / s
• Acceleration range:   2   4   8  16g
• Temprature: In celcius data
• Pin pitch 2.54mm

For working code which tooks raw datas from sensor please examine that code below.

// MPU-6050 Short Example Sketch
// By Arduino User JohnChi
// August 17, 2014
// Public Domain
#include
const int MPU=0x68; // I2C address of the MPU-6050
int AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;
void setup(){
Wire.begin();
Wire.beginTransmission(MPU);
Wire.write(0x6B); // PWR_MGMT_1 register
Wire.write(0); // set to zero (wakes up the MPU-6050)
Wire.endTransmission(true);
Serial.begin(9600);
}
void loop(){
Wire.beginTransmission(MPU);
Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H)
Wire.endTransmission(false);
Wire.requestFrom(MPU,14,true); // request a total of 14 registers
AcX=Wire.read()<<8|Wire.read(); // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)
AcY=Wire.read()<<8|Wire.read(); // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
AcZ=Wire.read()<<8|Wire.read(); // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)
Tmp=Wire.read()<<8|Wire.read(); // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L)
GyX=Wire.read()<<8|Wire.read(); // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
GyY=Wire.read()<<8|Wire.read(); // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
GyZ=Wire.read()<<8|Wire.read(); // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)
Serial.print(“AcX = “); Serial.print(AcX);
Serial.print(” | AcY = “); Serial.print(AcY);
Serial.print(” | AcZ = “); Serial.print(AcZ);
Serial.print(” | Tmp = “); Serial.print(Tmp/340.00+36.53); //equation for temperature in degrees C from datasheet
Serial.print(” | GyX = “); Serial.print(GyX);
Serial.print(” | GyY = “); Serial.print(GyY);
Serial.print(” | GyZ = “); Serial.println(GyZ);
delay(333);
}