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fc92547onSep2,2013

jrowbergUpdatingI2Cdevclassandvariousdevices
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//I2Cdeviceclass(I2Cdev)demonstrationArduinosketchforMPU6050class
//10/7/2011byJeffRowberg<jeff@rowberg.net>
//Updatesshould(hopefully)alwaysbeavailableathttps://github.com/jrowberg/i2cdevlib
//
//Changelog:
//20130508addedmultipleoutputformats
//addedseamlessFastwiresupport
//20111007initialrelease
/*============================================

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I2CdevdevicelibrarycodeisplacedundertheMITlicense
Copyright(c)2011JeffRowberg

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Permissionisherebygranted,freeofcharge,toanypersonobtainingacopy

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ofthissoftwareandassociateddocumentationfiles(the"Software"),todeal
intheSoftwarewithoutrestriction,includingwithoutlimitationtherights
touse,copy,modify,merge,publish,distribute,sublicense,and/orsell

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copiesoftheSoftware,andtopermitpersonstowhomtheSoftwareis
furnishedtodoso,subjecttothefollowingconditions:

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Theabovecopyrightnoticeandthispermissionnoticeshallbeincludedin
allcopiesorsubstantialportionsoftheSoftware.

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THESOFTWAREISPROVIDED"ASIS",WITHOUTWARRANTYOFANYKIND,EXPRESSOR

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IMPLIED,INCLUDINGBUTNOTLIMITEDTOTHEWARRANTIESOFMERCHANTABILITY,
FITNESSFORAPARTICULARPURPOSEANDNONINFRINGEMENT.INNOEVENTSHALLTHE

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AUTHORSORCOPYRIGHTHOLDERSBELIABLEFORANYCLAIM,DAMAGESOROTHER
LIABILITY,WHETHERINANACTIONOFCONTRACT,TORTOROTHERWISE,ARISINGFROM,

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Raw

OUTOFORINCONNECTIONWITHTHESOFTWAREORTHEUSEOROTHERDEALINGSIN
THESOFTWARE.
===============================================
*/
//I2CdevandMPU6050mustbeinstalledaslibraries,orelsethe.cpp/.hfiles
//forbothclassesmustbeintheincludepathofyourproject
#include"I2Cdev.h"
#include"MPU6050.h"
//ArduinoWirelibraryisrequiredifI2CdevI2CDEV_ARDUINO_WIREimplementation
//isusedinI2Cdev.h
#ifI2CDEV_IMPLEMENTATION==I2CDEV_ARDUINO_WIRE
#include"Wire.h"
#endif
//classdefaultI2Caddressis0x68
//specificI2Caddressesmaybepassedasaparameterhere
//AD0low=0x68(defaultforInvenSenseevaluationboard)
//AD0high=0x69
MPU6050accelgyro;
//MPU6050accelgyro(0x69);//<useforAD0high
int16_tax,ay,az;
int16_tgx,gy,gz;

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//uncomment"OUTPUT_READABLE_ACCELGYRO"ifyouwanttoseeatabseparated

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//listoftheaccelX/Y/ZandthengyroX/Y/Zvaluesindecimal.Easytoread,
//notsoeasytoparse,andslow(er)overUART.

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#defineOUTPUT_READABLE_ACCELGYRO

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//uncomment"OUTPUT_BINARY_ACCELGYRO"tosendall6axesofdataas16bit

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//withoutcompressionordataloss),andeasytoparse,butimpossibletoread

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//forahuman.
//#defineOUTPUT_BINARY_ACCELGYRO

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//binary,onerightaftertheother.Thisisveryfast(asfastaspossible

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#defineLED_PIN13
boolblinkState=false;

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voidsetup(){
//joinI2Cbus(I2Cdevlibrarydoesn'tdothisautomatically)
#ifI2CDEV_IMPLEMENTATION==I2CDEV_ARDUINO_WIRE
Wire.begin();
#elifI2CDEV_IMPLEMENTATION==I2CDEV_BUILTIN_FASTWIRE
Fastwire::setup(400,true);
#endif

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//initializeserialcommunication

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//it'sreallyuptoyoudependingonyourproject)
Serial.begin(38400);

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//(38400chosenbecauseitworksaswellat8MHzasitdoesat16MHz,but

//initializedevice
Serial.println("InitializingI2Cdevices...");
accelgyro.initialize();
//verifyconnection
Serial.println("Testingdeviceconnections...");
Serial.println(accelgyro.testConnection()?"MPU6050connectionsuccessful":"MPU6050connectionfailed");
//usethecodebelowtochangeaccel/gyrooffsetvalues
/*
Serial.println("Updatinginternalsensoroffsets...");
//76
2359 1688
0
0
0
Serial.print(accelgyro.getXAccelOffset());Serial.print("\t");//76
Serial.print(accelgyro.getYAccelOffset());Serial.print("\t");//2359
Serial.print(accelgyro.getZAccelOffset());Serial.print("\t");//1688
Serial.print(accelgyro.getXGyroOffset());Serial.print("\t");//0
Serial.print(accelgyro.getYGyroOffset());Serial.print("\t");//0
Serial.print(accelgyro.getZGyroOffset());Serial.print("\t");//0
Serial.print("\n");
accelgyro.setXGyroOffset(220);
accelgyro.setYGyroOffset(76);
accelgyro.setZGyroOffset(85);
Serial.print(accelgyro.getXAccelOffset());Serial.print("\t");//76
Serial.print(accelgyro.getYAccelOffset());Serial.print("\t");//2359
Serial.print(accelgyro.getZAccelOffset());Serial.print("\t");//1688
Serial.print(accelgyro.getXGyroOffset());Serial.print("\t");//0
Serial.print(accelgyro.getYGyroOffset());Serial.print("\t");//0
Serial.print(accelgyro.getZGyroOffset());Serial.print("\t");//0
Serial.print("\n");
*/
//configureArduinoLEDfor

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pinMode(LED_PIN,OUTPUT);
}

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voidloop(){
//readrawaccel/gyromeasurementsfromdevice

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accelgyro.getMotion6(&ax,&ay,&az,&gx,&gy,&gz);
//thesemethods(andafewothers)arealsoavailable
//accelgyro.getAcceleration(&ax,&ay,&az);
//accelgyro.getRotation(&gx,&gy,&gz);
#ifdefOUTPUT_READABLE_ACCELGYRO
//displaytabseparatedaccel/gyrox/y/zvalues
Serial.print("a/g:\t");

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Serial.print(ax);Serial.print("\t");
Serial.print(ay);Serial.print("\t");
Serial.print(az);Serial.print("\t");
Serial.print(gx);Serial.print("\t");
Serial.print(gy);Serial.print("\t");
Serial.println(gz);
#endif
#ifdefOUTPUT_BINARY_ACCELGYRO
Serial.write((uint8_t)(ax>>8));Serial.write((uint8_t)(ax&0xFF));
Serial.write((uint8_t)(ay>>8));Serial.write((uint8_t)(ay&0xFF));
Serial.write((uint8_t)(az>>8));Serial.write((uint8_t)(az&0xFF));
Serial.write((uint8_t)(gx>>8));Serial.write((uint8_t)(gx&0xFF));
Serial.write((uint8_t)(gy>>8));Serial.write((uint8_t)(gy&0xFF));
Serial.write((uint8_t)(gz>>8));Serial.write((uint8_t)(gz&0xFF));
#endif
//blinkLEDtoindicateactivity
blinkState=!blinkState;
digitalWrite(LED_PIN,blinkState);
}

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