Gyro with Accelerometer Sensor

-Arduino Uno
-MPU6050 3 Axis Gyro with Accelerometer

Download and extract i2cdevlib library from
copy i2cdevlib-master/Arduino/I2Cdev into C:\Users\user1\Documents\Arduino\libraries
copy i2cdevlib-master/Arduino/MPU6050 into C:\Users\user1\Documents\Arduino\libraries

#include “Wire.h” // This library allows you to communicate with I2C devices.
const int MPU_ADDR = 0x68; // I2C address of the MPU-6050. If AD0 pin is set to HIGH, the I2C address will be 0x69.
int16_t accelerometer_x, accelerometer_y, accelerometer_z; // variables for accelerometer raw data
int16_t gyro_x, gyro_y, gyro_z; // variables for gyro raw data
int16_t temperature; // variables for temperature data
char tmp_str[7]; // temporary variable used in convert function
char* convert_int16_to_str(int16_t i) { // converts int16 to string. Moreover, resulting strings will have the same length in the debug monitor.
  sprintf(tmp_str, “%6d”, i);
  return tmp_str;
void setup() {
  Wire.beginTransmission(MPU_ADDR); // Begins a transmission to the I2C slave (GY-521 board)
  Wire.write(0x6B); // PWR_MGMT_1 register
  Wire.write(0); // set to zero (wakes up the MPU-6050)
void loop() {
  Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H) [MPU-6000 and MPU-6050 Register Map and Descriptions Revision 4.2, p.40]
  Wire.endTransmission(false); // the parameter indicates that the Arduino will send a restart. As a result, the connection is kept active.
  Wire.requestFrom(MPU_ADDR, 7*2, true); // request a total of 7*2=14 registers
  // “<<8 |;” means two registers are read and stored in the same variable
  accelerometer_x =<<8 |; // reading registers: 0x3B (ACCEL_XOUT_H) and 0x3C (ACCEL_XOUT_L)
  accelerometer_y =<<8 |; // reading registers: 0x3D (ACCEL_YOUT_H) and 0x3E (ACCEL_YOUT_L)
  accelerometer_z =<<8 |; // reading registers: 0x3F (ACCEL_ZOUT_H) and 0x40 (ACCEL_ZOUT_L)
  temperature =<<8 |; // reading registers: 0x41 (TEMP_OUT_H) and 0x42 (TEMP_OUT_L)
  gyro_x =<<8 |; // reading registers: 0x43 (GYRO_XOUT_H) and 0x44 (GYRO_XOUT_L)
  gyro_y =<<8 |; // reading registers: 0x45 (GYRO_YOUT_H) and 0x46 (GYRO_YOUT_L)
  gyro_z =<<8 |; // reading registers: 0x47 (GYRO_ZOUT_H) and 0x48 (GYRO_ZOUT_L)
  // print out data
  Serial.print(“aX = “); Serial.print(convert_int16_to_str(accelerometer_x));
  Serial.print(” | aY = “); Serial.print(convert_int16_to_str(accelerometer_y));
  Serial.print(” | aZ = “); Serial.print(convert_int16_to_str(accelerometer_z));
  // the following equation was taken from the documentation [MPU-6000/MPU-6050 Register Map and Description, p.30]
  Serial.print(” | tmp = “); Serial.print(temperature/340.00+36.53);
  Serial.print(” | gX = “); Serial.print(convert_int16_to_str(gyro_x));
  Serial.print(” | gY = “); Serial.print(convert_int16_to_str(gyro_y));
  Serial.print(” | gZ = “); Serial.print(convert_int16_to_str(gyro_z));
  // delay

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