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Robu.in | Indian Online Store | RC Hobby | Robotics
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      • Component Kit
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      • Microcontroller ICs
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      • Upto 3 Inch
      • 3 Inch to 7 Inch
      • 8 Inch to 10 Inch
      • 11 Inch and Above
      • Carbon Fiber Propeller
      • Triblades
      • Propeller Accessories
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    • Creality 3D Printers
    • Electronics Parts
      • 3D Printer Display and Controllers
      • 3D Printer Extruder Kit
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      • Limit Switch
    • Mechnical Parts
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      • Lead Screw and Nut
      • Linear Guide Rail
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      • 3S Lipo (11.1V ~ 12.6V)
      • 4S Lipo (14.8V ~ 16.8V)
      • 6S LiPo (22.2V ~ 25.2V)
    • Orange LiPO Battery
      • 1 Cell (3.7-4.2)V
      • 2 Cell (7.4-8.4)V
      • 3 Cell (11.1-12.6)V
      • 4 Cell (14.8-16.8)V
      • 6 Cell (22.2-25.2)V
    • Micro LiPo Batteries
    • Lithium-Ion Batteries
      • 1 cell (3.7V~4.2V)
      • 2 Cell (7.4V~8.4V)
      • 3 Cell (11.1V~12.6V)
      • 4 Cell (14.8V~16.8V)
      • 5 Cell (18.5V) & Above
    • Orange Premium BMS
    • Other Batteries
      • TX/RX Li-PO Batteries
      • LifePO4 Battery
      • Coin Cell Battery
      • CNC and PLC Machine Battery
    • Battery Accessories
      • Battery Protection Board
      • Battery Pack Accessories & Holders
      • Battery Chargers
      • Battery Connector
      • Battery Harness
      • Power Adapter and Cable
      • Lipo Voltage Checker
      • Parallel Charging Board
      • LiPO Battery Sack, Covers & Mats
  • Motors, Drivers, Actuators
    • Planetary Gear Motor
      • Orange Planetary Gears Motor
      • Orange Planetary BLDC Motors
      • Planetary Gear DC Motors
    • Brushed DC Motor
      • Orange Johnson Geared Motor
      • Johnson Geared Motor (Grade B)
      • DC Geared Motor with Encoder
      • 25 GA Motors
      • Orange OG 555 DC Motor
      • RS 50 Geared Motor
      • Orange RS 775 DC Motor
      • Orange PM33 Motor
      • Orange Square Gear Box Motor
      • Orange Rectangular Gearbox Motor
    • N20 Micro Gear Motor
      • Micro Gear Motor with Encoder
      • Micro Gear Motor without Encoder
    • Stepper Motor
    • Servo Motors
      • Orange RC Servo Motors
      • Emax Servo Motor
      • Other Servo motor
    • Pumps
      • Kamoer High Quality Pumps and Accessories
      • Generic Pumps
      • Pneumatic Connectors and Valves
    • Cooling Fans
    • Linear Motor/Actuator
    • Solenoids & Electromagnets
    • Other DC Motors
      • BO Motors
      • Metal Gear Box Motor
      • Plastic Gear Box Motors
      • Vibration Motor
      • Drone Motor
    • Motor Drivers
      • Brushed DC Motor Driver
      • Servo Motor Driver
      • Stepper Motor Drivers
      • Brushless DC Motor Driver (ESC)
    • Motor Accessories
      • Motor Mounting Brackets
      • Bearings
      • Couplings
      • JR Servo Cable
      • Futaba Servo Cable
      • Push Rod
      • Other Accessories
  • Development Board
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      • Original Arduino Boards
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  • Official Arduino Boards
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    • Seven Segment LED Display
    • LED Dot Matrix Display
  • Sensors
    • Sensor Kits
    • Ultrasonic and Proximity
      • MAXBOTIX Ultrasonic Sonar
      • Ultrasonic Sensor
      • Orange Proximity Sensor
      • Autonics Proximity Sensor
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      • LiDAR Sensor
      • Other Ultrasonic Sensors
    • Temp., Humidity, Gas & Environmental
      • Temperature & Humidity Sensor
      • Environmental Sensors
      • Gas and Dust Sensor
      • Thermoelectric Cooler
    • Motion, Light and Sound
      • PIR / IR and Optical Sensor
      • RFID Card, Tags & Reader
      • Light/Color Sensor
      • Line Sensor
      • Sound Sensor
    • Biometric, Rotation, and Current
      • Biometric/ECG/EMG Sensor
      • Rotary Encoder
      • Current and Voltage
    • Load, Pressure, Flow & Vibration
      • Water TDS, pH, Flow, Level and Pressure Sensor
      • Vibration/Tilt Sensor and Modules
      • Load / Pressure / Force / Flex Sensor
  • Cameras
    • IoT Cameras
    • FPV Cameras
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    • Raspberry Pi Camera
  • IoT and Wireless
    • Ai Thinker ESP Modules and Development Boards
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    • Development Board/Kit
    • xBee Zigbee Module
    • LORA WiFi
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    • Wireless Smart Switches
  • Electronic Modules
    • Programming Module
    • Memory Interfacing
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    • Bluetooth Interfacing
    • Ethernet Module
    • Interface Module
    • LED Module
    • LASER Module
    • Addressable LED and Drivers
    • Breakout Board
    • Relay Switch Modules
    • Electronic Switches/Keypads
    • Solar Panels and Controllers
    • Wearable Electronic
    • Real Time Module (RTC)
    • Audio Module/ Amplifier
    • Mux-DeMux & Logic Converter
    • Voltage Regulator
      • Boost Converter (Step-Up )
      • Buck Converter (Step-Down)
    • Measuring Instruments
      • Digital Multimeter
      • Temperature Meter
      • Digital Voltage, Current and Frequency Meter
      • Oscilloscope & Signal Generator
      • Other Measuring Instrument
    • Power Supply
      • Transformers
      • SMPS
      • Hi-Link Power Supply Module
    • Displays
  • Wires and Cables
    • PVC and Silicone Wires
      • PVC Wire
      • 6 to 10 AWG
      • 12 to 16 AWG
      • 18 to 22 AWG
      • 24 to 30 AWG
    • Cables
      • DuPont / Jumper Cable
      • Interfacing Cables
      • JR Servo cable
      • Futaba servo cable
      • FFC Cable
    • Heat Shrink Tubing / Sleeve
      • Heat Shrink Combos
      • 1 mm to 4 mm
      • 5 mm to 10 mm
      • 11 mm and Above
      • PVC Heat Shrink
    • Tools and Accessories
      • Wire Cutter / Stripper
      • Cable Ties
      • Sleeves and Drag Chain
  • Mechanical Components and Workbench Tools
    • Mechanical Robotic Parts
      • Chassis
      • Aluminum Extrusion and Accessories
      • Smooth Rods
      • Lead Screw
      • Linear Guide Rail
      • Couplings
      • Bearings
      • Motor Mounting Brackets
      • Gears
    • Wheels
      • Mecanum Wheels
      • Omni Wheels
      • Heavy Duty Wheel
      • RC Car Wheel
      • Pulley Wheel & Track Belt
      • Caster Wheels
    • Carbon Fiber
      • Carbon Fiber Sheets and Strips
      • Carbon Fiber Tubes and Rods
    • Nuts-Bolts and Spacers
      • Countersunk(CSK) Screws
      • Socket Set Screws (Allen Grub)
      • Socket Head Cap Screw (Allen Bolt)
      • CHHD Screws
      • Nut and Washers
      • Nylon Nuts and Bolts
      • Spacer and Standoff
    • Soldering Tools
    • Workbench Tools
  • Services
    • PCB Manufacturing Service
    • Custom Battery Pack
    • Online SLA 3D Printing Service
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All Categories
  • Shop by Brands
  • New Arrivals
  • Refurbished
  • Partial Working
  • Electronic Components
    • Basic Electronic Components
      • Component Kit
      • Resistor
      • Inductor
      • Capacitor
      • Diode
      • Transistor
      • Crystal Oscillators
    • Semiconductor ICs
      • Microcontroller ICs
      • Interface ICs
      • Clock, Timer and Counter ICs
      • Sensor ICs
      • Optocoupler ICs
      • Converter ICs
      • Comparator ICs
      • Driver ICs
      • Encoder ICs
      • Audio ICs
      • IC Base
    • LEDs and Indicators
      • LEDs Kit
      • Pilot Lamp Indicator
      • LEDs with Holders
      • Through Hole LED
      • SMD LED
    • Miscellaneous Component
      • Potentiometer
      • Fuse
      • Buzzer/Speaker
      • Aluminium Heat Sink
      • Bread Board and Zero PCB
    • Mechanical Switches
    • Power Connectors
    • RF Connectors
    • Interface Connector
    • Berg / FPC / IDC Connector
  • DIY Learning and Robot Kits
    • Orange Premium Learning Kits
      • Orange Kits for Arduinos
      • Orange Kits for Raspberry Pi
      • Orange Electronic Component Kits
      • Orange DIY Mini Project Kits
    • DIY Hobby Project Parts
    • Robot Kits and Parts
    • Drone Kit
    • DIY 3D Printer Kits
    • Ebike Kit
    • Official Raspberry Pi Kits
    • Kits compatible with Arduino
    • Sensor Kits
    • Component Kit
  • Drone Parts
    • Kits
    • Frames and Accessories
    • Flight Controller & Accessories
    • Motors
    • Speed Controllers (ESC)
    • Propellers
      • Upto 3 Inch
      • 3 Inch to 7 Inch
      • 8 Inch to 10 Inch
      • 11 Inch and Above
      • Carbon Fiber Propeller
      • Triblades
      • Propeller Accessories
    • Drone Transmitter & Receiver
    • Antennas
    • FPV Cameras
    • FPV Antennas and Trans-Receivers
    • Accessories
    • Camera Gimbal
  • E-Bike Parts
    • Ebike Kit
    • Ebike Motor and Controller
    • Ebike Battery
    • Mechanical Accessories
    • Electronics Accessories
  • 3D Printers and Parts
    • Creality 3D Printers
    • Electronics Parts
      • 3D Printer Display and Controllers
      • 3D Printer Extruder Kit
      • 3D Printer Extruder Parts and Fans
      • Stepper Motors and Accessories
      • 3D Printer Display and Controller
      • Limit Switch
    • Mechnical Parts
      • 3D Printer Heatbed and Accessories
      • 3D Printer Nozzle
      • Lead Screw and Nut
      • Linear Guide Rail
      • Aluminum Extrusion and Accessories
      • Smooth Rods
      • 3D Printer Couplings
      • Timing Belt and Pulley
      • Sleeves and Drag Chain
    • 3D Printer Filaments
      • ORANGE Premium Filaments
      • ESUN Filaments
      • Resins
  • Batteries, Chargers and Accessories
    • Custom Battery Pack
    • Lemon Premium Li-PO Battery
      • 2S Lipo (7.4V ~ 8.4V)
      • 3S Lipo (11.1V ~ 12.6V)
      • 4S Lipo (14.8V ~ 16.8V)
      • 6S LiPo (22.2V ~ 25.2V)
    • Orange LiPO Battery
      • 1 Cell (3.7-4.2)V
      • 2 Cell (7.4-8.4)V
      • 3 Cell (11.1-12.6)V
      • 4 Cell (14.8-16.8)V
      • 6 Cell (22.2-25.2)V
    • Micro LiPo Batteries
    • Lithium-Ion Batteries
      • 1 cell (3.7V~4.2V)
      • 2 Cell (7.4V~8.4V)
      • 3 Cell (11.1V~12.6V)
      • 4 Cell (14.8V~16.8V)
      • 5 Cell (18.5V) & Above
    • Orange Premium BMS
    • Other Batteries
      • TX/RX Li-PO Batteries
      • LifePO4 Battery
      • Coin Cell Battery
      • CNC and PLC Machine Battery
    • Battery Accessories
      • Battery Protection Board
      • Battery Pack Accessories & Holders
      • Battery Chargers
      • Battery Connector
      • Battery Harness
      • Power Adapter and Cable
      • Lipo Voltage Checker
      • Parallel Charging Board
      • LiPO Battery Sack, Covers & Mats
  • Motors, Drivers, Actuators
    • Planetary Gear Motor
      • Orange Planetary Gears Motor
      • Orange Planetary BLDC Motors
      • Planetary Gear DC Motors
    • Brushed DC Motor
      • Orange Johnson Geared Motor
      • Johnson Geared Motor (Grade B)
      • DC Geared Motor with Encoder
      • 25 GA Motors
      • Orange OG 555 DC Motor
      • RS 50 Geared Motor
      • Orange RS 775 DC Motor
      • Orange PM33 Motor
      • Orange Square Gear Box Motor
      • Orange Rectangular Gearbox Motor
    • N20 Micro Gear Motor
      • Micro Gear Motor with Encoder
      • Micro Gear Motor without Encoder
    • Stepper Motor
    • Servo Motors
      • Orange RC Servo Motors
      • Emax Servo Motor
      • Other Servo motor
    • Pumps
      • Kamoer High Quality Pumps and Accessories
      • Generic Pumps
      • Pneumatic Connectors and Valves
    • Cooling Fans
    • Linear Motor/Actuator
    • Solenoids & Electromagnets
    • Other DC Motors
      • BO Motors
      • Metal Gear Box Motor
      • Plastic Gear Box Motors
      • Vibration Motor
      • Drone Motor
    • Motor Drivers
      • Brushed DC Motor Driver
      • Servo Motor Driver
      • Stepper Motor Drivers
      • Brushless DC Motor Driver (ESC)
    • Motor Accessories
      • Motor Mounting Brackets
      • Bearings
      • Couplings
      • JR Servo Cable
      • Futaba Servo Cable
      • Push Rod
      • Other Accessories
  • Development Board
    • Official Arduino Boards
      • Original Arduino Boards
      • Official Arduino Shields
      • Official Arduino Kits
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    • 8051 Board
    • Single Board Computer
    • Teensy Board
    • Udoo Board
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    • PIC Development board
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    • Advance Development Boards
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      • Boards
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    • e-Ink Display
    • Seven Segment LED Display
    • LED Dot Matrix Display
  • Sensors
    • Sensor Kits
    • Ultrasonic and Proximity
      • MAXBOTIX Ultrasonic Sonar
      • Ultrasonic Sensor
      • Orange Proximity Sensor
      • Autonics Proximity Sensor
      • Other Proximity Sensor & Modules
      • LiDAR Sensor
      • Other Ultrasonic Sensors
    • Temp., Humidity, Gas & Environmental
      • Temperature & Humidity Sensor
      • Environmental Sensors
      • Gas and Dust Sensor
      • Thermoelectric Cooler
    • Motion, Light and Sound
      • PIR / IR and Optical Sensor
      • RFID Card, Tags & Reader
      • Light/Color Sensor
      • Line Sensor
      • Sound Sensor
    • Biometric, Rotation, and Current
      • Biometric/ECG/EMG Sensor
      • Rotary Encoder
      • Current and Voltage
    • Load, Pressure, Flow & Vibration
      • Water TDS, pH, Flow, Level and Pressure Sensor
      • Vibration/Tilt Sensor and Modules
      • Load / Pressure / Force / Flex Sensor
  • Cameras
    • IoT Cameras
    • FPV Cameras
    • Smart Vision Camera
    • Thermal Cameras
    • Raspberry Pi Camera
  • IoT and Wireless
    • Ai Thinker ESP Modules and Development Boards
    • ESP WiFi Module
    • Development Board/Kit
    • xBee Zigbee Module
    • LORA WiFi
    • Bluetooth and NRF Modules
    • GSM / GPRS Modules
    • Transmitter and Receivers
    • Advance Controller Board
    • Wireless Smart Switches
  • Electronic Modules
    • Programming Module
    • Memory Interfacing
    • Communication Module
    • Bluetooth Interfacing
    • Ethernet Module
    • Interface Module
    • LED Module
    • LASER Module
    • Addressable LED and Drivers
    • Breakout Board
    • Relay Switch Modules
    • Electronic Switches/Keypads
    • Solar Panels and Controllers
    • Wearable Electronic
    • Real Time Module (RTC)
    • Audio Module/ Amplifier
    • Mux-DeMux & Logic Converter
    • Voltage Regulator
      • Boost Converter (Step-Up )
      • Buck Converter (Step-Down)
    • Measuring Instruments
      • Digital Multimeter
      • Temperature Meter
      • Digital Voltage, Current and Frequency Meter
      • Oscilloscope & Signal Generator
      • Other Measuring Instrument
    • Power Supply
      • Transformers
      • SMPS
      • Hi-Link Power Supply Module
    • Displays
  • Wires and Cables
    • PVC and Silicone Wires
      • PVC Wire
      • 6 to 10 AWG
      • 12 to 16 AWG
      • 18 to 22 AWG
      • 24 to 30 AWG
    • Cables
      • DuPont / Jumper Cable
      • Interfacing Cables
      • JR Servo cable
      • Futaba servo cable
      • FFC Cable
    • Heat Shrink Tubing / Sleeve
      • Heat Shrink Combos
      • 1 mm to 4 mm
      • 5 mm to 10 mm
      • 11 mm and Above
      • PVC Heat Shrink
    • Tools and Accessories
      • Wire Cutter / Stripper
      • Cable Ties
      • Sleeves and Drag Chain
  • Mechanical Components and Workbench Tools
    • Mechanical Robotic Parts
      • Chassis
      • Aluminum Extrusion and Accessories
      • Smooth Rods
      • Lead Screw
      • Linear Guide Rail
      • Couplings
      • Bearings
      • Motor Mounting Brackets
      • Gears
    • Wheels
      • Mecanum Wheels
      • Omni Wheels
      • Heavy Duty Wheel
      • RC Car Wheel
      • Pulley Wheel & Track Belt
      • Caster Wheels
    • Carbon Fiber
      • Carbon Fiber Sheets and Strips
      • Carbon Fiber Tubes and Rods
    • Nuts-Bolts and Spacers
      • Countersunk(CSK) Screws
      • Socket Set Screws (Allen Grub)
      • Socket Head Cap Screw (Allen Bolt)
      • CHHD Screws
      • Nut and Washers
      • Nylon Nuts and Bolts
      • Spacer and Standoff
    • Soldering Tools
    • Workbench Tools
  • Services
    • PCB Manufacturing Service
    • Custom Battery Pack
    • Online SLA 3D Printing Service
    • Online FDM 3D Printing Service
    • Metal Laser Cutting Service
    • Non-Metal Laser Cutting Service
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      • Diode
      • Transistor
      • Crystal Oscillators
    • Semiconductor ICs
      • Microcontroller ICs
      • Interface ICs
      • Clock, Timer and Counter ICs
      • Sensor ICs
      • Optocoupler ICs
      • Converter ICs
      • Comparator ICs
      • Driver ICs
      • Encoder ICs
      • Audio ICs
      • IC Base
    • LEDs and Indicators
      • LEDs Kit
      • Pilot Lamp Indicator
      • LEDs with Holders
      • Through Hole LED
      • SMD LED
    • Miscellaneous Component
      • Potentiometer
      • Fuse
      • Buzzer/Speaker
      • Aluminium Heat Sink
      • Bread Board and Zero PCB
    • Mechanical Switches
    • Power Connectors
    • RF Connectors
    • Interface Connector
    • Berg / FPC / IDC Connector
  • DIY Learning and Robot Kits
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      • Upto 3 Inch
      • 3 Inch to 7 Inch
      • 8 Inch to 10 Inch
      • 11 Inch and Above
      • Carbon Fiber Propeller
      • Triblades
      • Propeller Accessories
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    • FPV Antennas and Trans-Receivers
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  • E-Bike Parts
    • Ebike Kit
    • Ebike Motor and Controller
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  • 3D Printers and Parts
    • Creality 3D Printers
    • Electronics Parts
      • 3D Printer Display and Controllers
      • 3D Printer Extruder Kit
      • 3D Printer Extruder Parts and Fans
      • Stepper Motors and Accessories
      • 3D Printer Display and Controller
      • Limit Switch
    • Mechnical Parts
      • 3D Printer Heatbed and Accessories
      • 3D Printer Nozzle
      • Lead Screw and Nut
      • Linear Guide Rail
      • Aluminum Extrusion and Accessories
      • Smooth Rods
      • 3D Printer Couplings
      • Timing Belt and Pulley
      • Sleeves and Drag Chain
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      • ORANGE Premium Filaments
      • ESUN Filaments
      • Resins
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    • Custom Battery Pack
    • Lemon Premium Li-PO Battery
      • 2S Lipo (7.4V ~ 8.4V)
      • 3S Lipo (11.1V ~ 12.6V)
      • 4S Lipo (14.8V ~ 16.8V)
      • 6S LiPo (22.2V ~ 25.2V)
    • Orange LiPO Battery
      • 1 Cell (3.7-4.2)V
      • 2 Cell (7.4-8.4)V
      • 3 Cell (11.1-12.6)V
      • 4 Cell (14.8-16.8)V
      • 6 Cell (22.2-25.2)V
    • Micro LiPo Batteries
    • Lithium-Ion Batteries
      • 1 cell (3.7V~4.2V)
      • 2 Cell (7.4V~8.4V)
      • 3 Cell (11.1V~12.6V)
      • 4 Cell (14.8V~16.8V)
      • 5 Cell (18.5V) & Above
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HomeBlogsHow to Interface MPU6050 with the Arduino

How to Interface MPU6050 with the Arduino

Blogs, IMU  0  comments  1714 Views  Friday, February 19, 2021











In this blog, we will learn about the MPU6050 sensor. It calculates the angle and motion values of the accelerometer and the gyroscope. With this, we will also see its wide application range.

Introduction

Have you ever wonder how your mobile screen adjusts automatically in a frame when you move your smartphone vertically or horizontally? We can achieve this task with the help of IMU(Inertial Measurement Unit) MPU6050. In this tutorial, we will talk about MPU6050 and its interfacing with Arduino. MPU6050 has been developed by InvenSense company. It is designed for obtaining values of accelerometer and gyroscope.

What is MPU6050?

MPU6050 is an IMU device that stands for Inertial Measurement Unit. It is a six-axis motion tracking device that calculates a three-axis accelerometer and three-axis gyroscope data. The biggest advantage of this board it comes with a digital motion processor. The significance of DMP(Digital motion processor) is, it performs very complex calculations/operations from its side, thus freeing up the microcontroller’s work. It provides motion data like roll, pitch, yaw, angles, landscape, and portrait sense, Etc.

It is very precise while converting analog data into digital data bits because it has 16 bits assigned for each channel. Digital Motion Processor or the DMP(Digital Matrix Processor) is an embedded processor that can reduce the host processor’s computational load by acquiring and processing data from Accelerometer, Gyroscope, and an external Magnetometer.

We will look towards some of its main features like:

  • 3- axis gyroscope
  • 3- axis accelerometer
  • 16-bit ADC conversion for each channel
  • 1024 bit FIFO buffer
  • Digital output temperature sensor
  • Integrated Digital Motion Processor
  • Inbuilt temperature sensor

Pinout

  • VCC: This pin is used to provide power(5v /3.3v)
  • GND: As usual for providing 0v
  • SDA: This pin is used for obtaining data serially from the sensor
  • SCL: This pin is used for serial clock input
  • XDA: This is used as an SDA for configuring and reading from an external sensor(Optional)
  • XCL: This is used as an SCL for configuring and reading from external sensor (Optional)
  • AD0: This is I2c slave address Bus, (least significant bit)
  • INT: This one is an Interrupt pin for an indication of data ready

How does it Work?

How does the Accelerometer work?

An accelerometer works on the principle of the piezoelectric effect. Consider a cuboidal box with a ball inside it. If we move or tilt the box ball inside the box, it will fall on the box’s walls because of gravity. Similarly, IMU like MPU6050 also contains such MEMS (micro-electromechanical systems), which exactly work just like the cuboidal box with a ball inside it.

When the device/box is tilted, a ball inside the box falls upon the piezoelectric walls. Also, the analog data is captured from that wall’s channel and proceeds into digital data. It is often how an accelerometer works, and its output is so precise because it has 16-bit ADC present for every channel.

How does the Gyroscope work?

It works on the principle of Coriolis acceleration. Imagine that there's a fork-like structure that's in an exceedingly constant back-and-forth motion. Whenever you try to tilt this arrangement, the crystals experience a force within the direction of inclination. It often causes a result of the inertia of the moving fork. The crystals thus produce a current in consensus with the piezo effect, and the current is amplified.

Interfacing with the Arduino

As MPU6050 is an I2C communication device, the connections with the Arduino are pretty simple. The following circuit diagram will show you how the connections are made with Arduino.

Connections of MPU6050 with Arduino is as follows:

Arduino MPU6050
5v/3vVCC
GNDGND
A5/ SCL pin SCL
A4/SDA pin SDA
pin 2 INT

Programming

To obtain the data from MPU6050, you will need to install the wire.h library.

You can download both the libraries from the following link:

  • MPU6050
  • Wire.h library

From this code, we will get three basic parameters called Roll, Pitch, Yaw. Basically, what do these three things mean? When you are going through a car, you can measure its motion as forward, backward, left, and right. But, it will not be considered the same scenario when it comes to drones or flying vehicles. Flying control boards have different terminologies like yaw, pitch, and Rolls.

  • The axis that runs front to the back of the drone is called the roll axis. The rotation around this axis is called roll motion.
  • The axis that runs left to the right of the drone is called the pitch axis. The rotation around this axis is called pitch motion.
  • The axis that runs top to the bottom of the drone is called the yaw axis. The rotation around this axis is called the yaw motion.

In the short words, we can say that,

  • Rotation around the front-to-back axis is called roll.
  • Rotation around the side-to-side axis is called pitch.
  • Rotation around the vertical axis is called yaw.

For explaining the things, I will show you an image for a better understanding.


#include <Wire.h>
const int MPU = 0x68; // MPU6050 I2C address
float AccX, AccY, AccZ;
float GyroX, GyroY, GyroZ;
float accAngleX, accAngleY, gyroAngleX, gyroAngleY, gyroAngleZ;
float roll, pitch, yaw;
float AccErrorX, AccErrorY, GyroErrorX, GyroErrorY, GyroErrorZ;
float elapsedTime, currentTime, previousTime;
int c = 0;
void setup() {
  Serial.begin(19200);
  Wire.begin();                      // Initialize comunication
  Wire.beginTransmission(MPU);       // Start communication with MPU6050 // MPU=0x68
  Wire.write(0x6B);                  // Talk to the register 6B
  Wire.write(0x00);                  // Make reset - place a 0 into the 6B register
  Wire.endTransmission(true);        //end the transmission

/*
  
  // Configure Accelerometer Sensitivity - Full Scale Range (default +/- 2g)
  Wire.beginTransmission(MPU);
  Wire.write(0x1C);                  //Talk to the ACCEL_CONFIG register (1C hex)
  Wire.write(0x10);                  //Set the register bits as 00010000 (+/- 8g full scale range)
  Wire.endTransmission(true);
  // Configure Gyro Sensitivity - Full Scale Range (default +/- 250deg/s)
  Wire.beginTransmission(MPU);
  Wire.write(0x1B);                   // Talk to the GYRO_CONFIG register (1B hex)
  Wire.write(0x10);                   // Set the register bits as 00010000 (1000deg/s full scale)
  Wire.endTransmission(true);
  delay(20);


  */
  // Call this function if you need to get the IMU error values for your module
  calculate_IMU_error();
  delay(20);
}
void loop() {
  // === Read acceleromter data === //
  Wire.beginTransmission(MPU);
  Wire.write(0x3B); // Start with register 0x3B (ACCEL_XOUT_H)
  Wire.endTransmission(false);
  Wire.requestFrom(MPU, 6, true); // Read 6 registers total, each axis value is stored in 2 registers
  //For a range of +-2g, we need to divide the raw values by 16384, according to the datasheet
  AccX = (Wire.read() << 8 | Wire.read()) / 16384.0; // X-axis value
  AccY = (Wire.read() << 8 | Wire.read()) / 16384.0; // Y-axis value
  AccZ = (Wire.read() << 8 | Wire.read()) / 16384.0; // Z-axis value
  // Calculating Roll and Pitch from the accelerometer data
  accAngleX = (atan(AccY / sqrt(pow(AccX, 2) + pow(AccZ, 2))) * 180 / PI) - 0.58; // AccErrorX ~(0.58) See the calculate_IMU_error()custom function for more details
  accAngleY = (atan(-1 * AccX / sqrt(pow(AccY, 2) + pow(AccZ, 2))) * 180 / PI) + 1.58; // AccErrorY ~(-1.58)
  // === Read gyroscope data === //
  previousTime = currentTime;        // Previous time is stored before the actual time read
  currentTime = millis();            // Current time actual time read
  elapsedTime = (currentTime - previousTime) / 1000; // Divide by 1000 to get seconds
  Wire.beginTransmission(MPU);
  Wire.write(0x43); // Gyro data first register address 0x43
  Wire.endTransmission(false);
  Wire.requestFrom(MPU, 6, true); // Read 4 registers total, each axis value is stored in 2 registers
  GyroX = (Wire.read() << 8 | Wire.read()) / 131.0; // For a 250deg/s range we have to divide first the raw value by 131.0, according to the datasheet
  GyroY = (Wire.read() << 8 | Wire.read()) / 131.0;
  GyroZ = (Wire.read() << 8 | Wire.read()) / 131.0;
  // Correct the outputs with the calculated error values
  GyroX = GyroX + 0.56; // GyroErrorX ~(-0.56)
  GyroY = GyroY - 2; // GyroErrorY ~(2)
  GyroZ = GyroZ + 0.79; // GyroErrorZ ~ (-0.8)
  // Currently the raw values are in degrees per seconds, deg/s, so we need to multiply by sendonds (s) to get the angle in degrees
  gyroAngleX = gyroAngleX + GyroX * elapsedTime; // deg/s * s = deg
  gyroAngleY = gyroAngleY + GyroY * elapsedTime;
  yaw =  yaw + GyroZ * elapsedTime;
  // Complementary filter - combine acceleromter and gyro angle values
  roll = 0.96 * gyroAngleX + 0.04 * accAngleX;
  pitch = 0.96 * gyroAngleY + 0.04 * accAngleY;
  
  // Print the values on the serial monitor
  Serial.print(roll);
  Serial.print("/");
  Serial.print(pitch);
  Serial.print("/");
  Serial.println(yaw);
}
void calculate_IMU_error() {
  // We can call this funtion in the setup section to calculate the accelerometer and gyro data error. From here we will get the error values used in the above equations printed on the Serial Monitor.
  // Note that we should place the IMU flat in order to get the proper values, so that we then can the correct values
  // Read accelerometer values 200 times
  while (c < 200) {
    Wire.beginTransmission(MPU);
    Wire.write(0x3B);
    Wire.endTransmission(false);
    Wire.requestFrom(MPU, 6, true);
    AccX = (Wire.read() << 8 | Wire.read()) / 16384.0 ;
    AccY = (Wire.read() << 8 | Wire.read()) / 16384.0 ;
    AccZ = (Wire.read() << 8 | Wire.read()) / 16384.0 ;
    // Sum all readings
    AccErrorX = AccErrorX + ((atan((AccY) / sqrt(pow((AccX), 2) + pow((AccZ), 2))) * 180 / PI));
    AccErrorY = AccErrorY + ((atan(-1 * (AccX) / sqrt(pow((AccY), 2) + pow((AccZ), 2))) * 180 / PI));
    c++;
  }
  //Divide the sum by 200 to get the error value
  AccErrorX = AccErrorX / 200;
  AccErrorY = AccErrorY / 200;
  c = 0;
  // Read gyro values 200 times
  while (c < 200) {
    Wire.beginTransmission(MPU);
    Wire.write(0x43);
    Wire.endTransmission(false);
    Wire.requestFrom(MPU, 6, true);
    GyroX = Wire.read() << 8 | Wire.read();
    GyroY = Wire.read() << 8 | Wire.read();
    GyroZ = Wire.read() << 8 | Wire.read();
    // Sum all readings
    GyroErrorX = GyroErrorX + (GyroX / 131.0);
    GyroErrorY = GyroErrorY + (GyroY / 131.0);
    GyroErrorZ = GyroErrorZ + (GyroZ / 131.0);
    c++;
  }
  //Divide the sum by 200 to get the error value
  GyroErrorX = GyroErrorX / 200;
  GyroErrorY = GyroErrorY / 200;
  GyroErrorZ = GyroErrorZ / 200;
  // Print the error values on the Serial Monitor
  Serial.print("AccErrorX: ");
  Serial.println(AccErrorX);
  Serial.print("AccErrorY: ");
  Serial.println(AccErrorY);
  Serial.print("GyroErrorX: ");
  Serial.println(GyroErrorX);
  Serial.print("GyroErrorY: ");
  Serial.println(GyroErrorY);
  Serial.print("GyroErrorZ: ");
  Serial.println(GyroErrorZ);
}

Output

From the above code, we have successfully got the Data Roll/ pitch/ Yaw.

Roll, pitch, yaw are the manipulated data obtained by gyroscopic angles of MPU6050. If you want to calculate basic accelerometer and gyroscopic values, you can receive them in some steps. For that, first, you have to install the library MPU6050_tockn.h.

After downloading this library, install the library with the following path.

Browse the library from its path directory. It is the process of adding the library to MPU6050. After including the library to Arduino IDE, you can select the code from the path.

Once the MPU-6050 library is added to Arduino IDE, we have a list of examples to choose from, like

  • GetAllData
  • GetAngle

Open code GetAllData.

#include <MPU6050_tockn.h>
#include <Wire.h>

MPU6050 mpu6050(Wire);

long timer = 0;

void setup() {
  Serial.begin(9600);
  Wire.begin();
  mpu6050.begin();
  mpu6050.calcGyroOffsets(true);
}

void loop() {
  mpu6050.update();

  if(millis() - timer > 1000){
    
    Serial.println("=======================================================");
    Serial.print("temp : ");Serial.println(mpu6050.getTemp());
    Serial.print("accX : ");Serial.print(mpu6050.getAccX());
    Serial.print("\taccY : ");Serial.print(mpu6050.getAccY());
    Serial.print("\taccZ : ");Serial.println(mpu6050.getAccZ());
  
    Serial.print("gyroX : ");Serial.print(mpu6050.getGyroX());
    Serial.print("\tgyroY : ");Serial.print(mpu6050.getGyroY());
    Serial.print("\tgyroZ : ");Serial.println(mpu6050.getGyroZ());
  
    Serial.print("accAngleX : ");Serial.print(mpu6050.getAccAngleX());
    Serial.print("\taccAngleY : ");Serial.println(mpu6050.getAccAngleY());
  
    Serial.print("gyroAngleX : ");Serial.print(mpu6050.getGyroAngleX());
    Serial.print("\tgyroAngleY : ");Serial.print(mpu6050.getGyroAngleY());
    Serial.print("\tgyroAngleZ : ");Serial.println(mpu6050.getGyroAngleZ());
    
    Serial.print("angleX : ");Serial.print(mpu6050.getAngleX());
    Serial.print("\tangleY : ");Serial.print(mpu6050.getAngleY());
    Serial.print("\tangleZ : ");Serial.println(mpu6050.getAngleZ());
    Serial.println("=======================================================\n");
    timer = millis();
    
  }

}

Uploading this code into Arduino the MPU6050 will give you the values. You can see the output in the following image:

Output for Accelerometer and Gyroscope

You will get complete data of the accelerometer and gyroscope from the above output, including current temperature values.

Applications

Here are some applications of the MPU6050 sensor:

  • 3D remoter controller
  • In 3D mice controller
  • In wearable health-tracking, fitness-tracking devices
  • In drones and quadcopters, MPU6050 is used for position control.
  • Used in controlling Robotic Arm
  • Hand gesture control devices
  • In Self-balancing robot
  • In Humanoid robot for tilt, rotation, and balancing
  • In smartphones for adjusting the frame
  • Used in gimbals system for stabilization on drones

Final Words

In this tutorial, it has been concluded that the MPU6050 chip is a highly applicable device in many systems. It is used in wide applications and is considered the most crucial parameter of the system. Without this sensor, we can not make most of the complicated processes in robotics and the embedded fields. If you have any queries related to any doubt, you can drop them in the comment section.



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