ESP32_MPU6050.ino

#include <Arduino.h>
/* Get all possible data from MPU6050
 * Accelerometer values are given as multiple of the gravity [1g = 9.81 m/s²]
 * Gyro values are given in deg/s
 * Angles are given in degrees
 * Note that X and Y are tilt angles and not pitch/roll.
 *
 * License: MIT
 */

 /*
 rfetick/MPU6050_light @ ^1.1.0
  */

 #include "Wire.h"
 #include <MPU6050_light.h>
 
 MPU6050 mpu(Wire);
 
 long timer = 0;
 
 void setup() {
   Serial.begin(115200);
   Wire.begin(21,22,400000); // SDA, SCL, 400kHz
   
   byte status = mpu.begin();
   Serial.print(F("MPU6050 status: "));
   Serial.println(status);
   while(status!=0){ } // stop everything if could not connect to MPU6050
   
   Serial.println(F("Calculating offsets, do not move MPU6050"));
   delay(1000);
   mpu.calcOffsets(true,true); // gyro and accelero
   Serial.println("Done!\n");
   
 }
 
 void loop() {
   mpu.update();
 
   if(millis() - timer > 100){ // print data every second
     Serial.print(F("TEMPERATURE: "));Serial.println(mpu.getTemp());
     Serial.print(F("ACCELERO  X: "));Serial.print(mpu.getAccX());
     Serial.print("\tY: ");Serial.print(mpu.getAccY());
     Serial.print("\tZ: ");Serial.println(mpu.getAccZ());
   
     Serial.print(F("GYRO      X: "));Serial.print(mpu.getGyroX());
     Serial.print("\tY: ");Serial.print(mpu.getGyroY());
     Serial.print("\tZ: ");Serial.println(mpu.getGyroZ());
   
     Serial.print(F("ACC ANGLE X: "));Serial.print(mpu.getAccAngleX());
     Serial.print("\tY: ");Serial.println(mpu.getAccAngleY());
     
     Serial.print(F("ANGLE     X: "));Serial.print(mpu.getAngleX());
     Serial.print("\tY: ");Serial.print(mpu.getAngleY());
     Serial.print("\tZ: ");Serial.println(mpu.getAngleZ());
     Serial.println(F("=====================================================\n"));
     timer = millis();
   }
 
 }

/*
TEMPERATURE: 33.40
ACCELERO  X: -0.01      Y: -0.00        Z: 1.01
GYRO      X: -0.21      Y: -0.10        Z: 0.19
ACC ANGLE X: -0.14      Y: 0.77
ANGLE     X: -0.33      Y: 0.47 Z: -1.83
=====================================================
*/