Documentation

// MPU6050 IMU - Arduino Example
// Library: "Adafruit MPU6050" (Arduino Library Manager)
// I2C: SDA -> A4, SCL -> A5

#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>
#include <Wire.h>

Adafruit_MPU6050 mpu;

void setup() {
  Serial.begin(115200);
  while (!Serial) delay(10);

  if (!mpu.begin()) {
    Serial.println("MPU6050 not found. Check wiring.");
    while (1) delay(10);
  }
  Serial.println("MPU6050 ready.");

  mpu.setAccelerometerRange(MPU6050_RANGE_8_G);
  mpu.setGyroRange(MPU6050_RANGE_500_DEG);
  mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);
}

void loop() {
  sensors_event_t a, g, t;
  mpu.getEvent(&a, &g, &t);

  Serial.print("Accel (m/s^2)  X="); Serial.print(a.acceleration.x);
  Serial.print(" Y="); Serial.print(a.acceleration.y);
  Serial.print(" Z="); Serial.println(a.acceleration.z);

  Serial.print("Gyro  (rad/s)  X="); Serial.print(g.gyro.x);
  Serial.print(" Y="); Serial.print(g.gyro.y);
  Serial.print(" Z="); Serial.println(g.gyro.z);

  Serial.print("Temp  (C)      "); Serial.println(t.temperature);
  Serial.println();
  delay(500);
}

#!/usr/bin/env python3
# MPU6050 IMU - Raspberry Pi Example
# Install: pip3 install mpu6050-raspberrypi
# Enable I2C: sudo raspi-config -> Interface Options -> I2C

from mpu6050 import mpu6050
import time

sensor = mpu6050(0x68)

print("MPU6050 IMU (Ctrl+C to stop)")

try:
    while True:
        accel = sensor.get_accel_data()     # m/s^2
        gyro  = sensor.get_gyro_data()      # deg/s
        temp  = sensor.get_temp()           # deg C

        print("Accel  X={:+.2f}  Y={:+.2f}  Z={:+.2f}".format(
            accel['x'], accel['y'], accel['z']))
        print("Gyro   X={:+.2f}  Y={:+.2f}  Z={:+.2f}".format(
            gyro['x'],  gyro['y'],  gyro['z']))
        print("Temp   {:.2f} C\n".format(temp))
        time.sleep(0.5)
except KeyboardInterrupt:
    print("\nStopped by user")

# MPU6050 IMU - Pico MicroPython Example
# I2C0: SDA -> GP0, SCL -> GP1

from machine import I2C, Pin
import time, struct

MPU_ADDR  = 0x68
PWR_MGMT  = 0x6B
ACCEL_OUT = 0x3B

i2c = I2C(0, sda=Pin(0), scl=Pin(1), freq=400000)

# Wake up the sensor (clears sleep bit)
i2c.writeto_mem(MPU_ADDR, PWR_MGMT, b'\x00')

def read_all():
    raw = i2c.readfrom_mem(MPU_ADDR, ACCEL_OUT, 14)
    ax, ay, az, t, gx, gy, gz = struct.unpack('>hhhhhhh', raw)
    # Scale to physical units (default ranges: ±2g, ±250 deg/s)
    return {
        'ax': ax / 16384.0, 'ay': ay / 16384.0, 'az': az / 16384.0,
        'gx': gx / 131.0,   'gy': gy / 131.0,   'gz': gz / 131.0,
        'temp_c': t / 340.0 + 36.53
    }

print("MPU6050 IMU")
while True:
    d = read_all()
    print("Accel g: {ax:+.2f} {ay:+.2f} {az:+.2f}   Gyro d/s: {gx:+.1f} {gy:+.1f} {gz:+.1f}   T={temp_c:.1f}C"
          .format(**d))
    time.sleep_ms(500)

# MPU6050 IMU - ESP32 MicroPython Example
# I2C: SDA -> GPIO 21, SCL -> GPIO 22

from machine import I2C, Pin
import time, struct

MPU_ADDR  = 0x68
PWR_MGMT  = 0x6B
ACCEL_OUT = 0x3B

i2c = I2C(0, sda=Pin(21), scl=Pin(22), freq=400000)

print("I2C devices:", [hex(d) for d in i2c.scan()])

# Wake up the sensor
i2c.writeto_mem(MPU_ADDR, PWR_MGMT, b'\x00')

while True:
    raw = i2c.readfrom_mem(MPU_ADDR, ACCEL_OUT, 14)
    ax, ay, az, t, gx, gy, gz = struct.unpack('>hhhhhhh', raw)
    print("Accel g: {:+.2f} {:+.2f} {:+.2f}   Gyro d/s: {:+.1f} {:+.1f} {:+.1f}".format(
        ax/16384.0, ay/16384.0, az/16384.0,
        gx/131.0,   gy/131.0,   gz/131.0))
    time.sleep_ms(500)