Raspberry PI Gyroscope Control Code

MPU6050s are configurable accelerometers and gyroscopes. So you are capable to measure acceleration, rotation speed and temperature. The gravity is added to the acceleration. From these data the current angle of MPU6050 is calculated in degrees. You can set sensor ranges too. Bigger ranges imply less quility in measurements while smaller ranges makes the quility better. You can store a high variety of measured data to instantly react or later analyze them.

rpi with mpu sensors
Figure 1 -

Required hardware

  • Raspberry PI
  • MPU6050

Source code to install on controller

#!/usr/bin/python

import smbus
import math
import time

power_mgmt_1 = 0x6b
power_mgmt_2 = 0x6c


def read_byte(adr):
    return bus.read_byte_data(address, adr)


def read_word(adr):
    high = bus.read_byte_data(address, adr)
    low = bus.read_byte_data(address, adr + 1)
    val = (high << 8) + low
    return val


def read_word_2c(adr):
    val = read_word(adr)
    if (val >= 0x8000):
        return -((65535 - val) + 1)
    else:
        return val


def dist(a, b):
    return math.sqrt((a * a) + (b * b))


def get_y_rotation(x, y, z):
    radians = math.atan2(x, dist(y, z))
    return -math.degrees(radians)


def get_x_rotation(x, y, z):
    radians = math.atan2(y, dist(x, z))
    return math.degrees(radians)


bus = smbus.SMBus(1)
address = 0x68

bus.write_byte_data(address, power_mgmt_1, 0)

while True:
    print "Gyroscope data"
    print "--------------"

    gyro_xout = read_word_2c(0x43)
    gyro_yout = read_word_2c(0x45)
    gyro_zout = read_word_2c(0x47)

    print "{}\t{}\t{}\t{}".format ("X out: ", gyro_xout, "scaled: ", (gyro_xout/131))
    print "{}\t{}\t{}\t{}".format ("Y out: ", gyro_yout, " scaled: ", (gyro_yout / 131))
    print "{}\t{}\t{}\t{}".format ("Z out: ", gyro_zout, " scaled: ", (gyro_zout / 131))

    print
    print "Accelerometer data"
    print "------------------"

    accel_xout = read_word_2c(0x3b)
    accel_yout = read_word_2c(0x3d)
    accel_zout = read_word_2c(0x3f)

    accel_xout_scaled = accel_xout / 16384.0
    accel_yout_scaled = accel_yout / 16384.0
    accel_zout_scaled = accel_zout / 16384.0

    print "{}\t{}\t{}\t{}".format ("X out: ", accel_xout, " scaled: ", accel_xout_scaled)
    print "{}\t{}\t{}\t{}".format ("Y out: ", accel_yout, " scaled: ", accel_yout_scaled)
    print "{}\t{}\t{}\t{}".format ("Z out: ", accel_zout, " scaled: ", accel_zout_scaled)
	
    print

    print "X rotation: ", get_x_rotation(accel_xout_scaled, accel_yout_scaled, accel_zout_scaled)
    print "Y rotation: ", get_y_rotation(accel_xout_scaled, accel_yout_scaled, accel_zout_scaled)
    
    print

    time.sleep(1)

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