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.. _2.2.9_js:

2.2.9 MPU6050 Module
====================

Introduction
------------

The MPU-6050 is the world’s first and only 6-axis motion tracking
devices (3-axis Gyroscope and 3-axis Accelerometer) designed for
smartphones, tablets and wearable sensors that have these features,
including the low power, low cost, and high performance requirements.

In this experiment, use I2C to obtain the values of the three-axis
acceleration sensor and three-axis gyroscope for MPU6050 and display
them on the screen.

Required Components
------------------------------

In this project, we need the following components. 

.. image:: ../img/list_2.2.6.png

It's definitely convenient to buy a whole kit, here's the link: 

.. list-table::
    :widths: 20 20 20
    :header-rows: 1

    *   - Name	
        - ITEMS IN THIS KIT
        - LINK
    *   - Raphael Kit
        - 337
        - |link_Raphael_kit|

You can also buy them separately from the links below.

.. list-table::
    :widths: 30 20
    :header-rows: 1

    *   - COMPONENT INTRODUCTION
        - PURCHASE LINK

    *   - :ref:`cpn_gpio_board`
        - |link_gpio_board_buy|
    *   - :ref:`cpn_breadboard`
        - |link_breadboard_buy|
    *   - :ref:`cpn_wires`
        - |link_wires_buy|
    *   - :ref:`cpn_mpu6050`
        - |link_mpu6050_buy|

Schematic Diagram
-----------------

MPU6050 communicates with the microcontroller through the I2C bus
interface. The SDA1 and SCL1 need to be connected to the corresponding
pin.

.. image:: ../img/image330.png


Experimental Procedures
-------------------------------

**Step 1:** Build the circuit.

.. image:: ../img/image227.png


**Step 2**: Setup I2C (see Appendix :ref:`i2c_config`. If you have set I2C, skip this
step.)

**Step 2:** Go to the folder of the code.

.. raw:: html

   <run></run>

.. code-block::

    cd ~/raphael-kit/nodejs/

**Step 3:** Install dependencies.

.. raw:: html

   <run></run>

.. code-block:: 

    sudo npm install mpu6050-gyro

**Step 4:** Run the code.

.. raw:: html

   <run></run>

.. code-block::

    sudo node mpu6050_module.js

With the code run, the angle of deflection of the x-axis and y-axis and
the acceleration, angular velocity on each axis read by MPU6050 will be
printed on the screen after being calculating.



**Code**

.. code-block:: js

    var gyro = require("mpu6050-gyro");
    
    var address = 0x68; //MPU6050 address
    var bus = 1; //i2c bus used   
    var gyro = new gyro( bus,address );
    
    async function update_telemetry() {
        
        var gyro_xyz = gyro.get_gyro_xyz();
        var accel_xyz = gyro.get_accel_xyz();
        
        var gyro_data = {
            gyro_xyz: gyro_xyz,
            accel_xyz: accel_xyz,
            rollpitch: gyro.get_roll_pitch( gyro_xyz, accel_xyz )
        }
        
        console.log(gyro_data);
        
        setTimeout(update_telemetry, 500);
    }
    
    if ( gyro ) {
        update_telemetry();
    }

**Code Explanation**

.. code-block:: js

    var gyro = require("mpu6050-gyro");
    
    var address = 0x68; //MPU6050 address
    var bus = 1; //i2c bus used   
    var gyro = new gyro( bus,address );

Import the ``mpu6050-gyro`` module, determine the MPU6050 address and the bus creation object gyro,
It is convenient to call the encapsulated functions in the module.

.. note:: 
    About this module, please refer to: https://www.npmjs.com/package/mpu6050-gyro

.. code-block:: js

    var gyro_xyz = gyro.get_gyro_xyz();
    var accel_xyz = gyro.get_accel_xyz();
    
    var gyro_data = {
        gyro_xyz: gyro_xyz,
        accel_xyz: accel_xyz,
        rollpitch: gyro.get_roll_pitch( gyro_xyz, accel_xyz )
    }
    
    console.log(gyro_data);
    
    setTimeout(update_telemetry, 500);

The module encapsulates three available functions:

``gyro.get_gyro_xyz()``: Returns JSON object with raw x,y,z datas from gyroscope.

``gyro.get_accel_xyz()``: Returns JSON object with raw x,y,z datas from accelerometer.

``gyro.get_roll_pitch( gyro_xyz, accel_xyz )``: Returns JSON object with roll and pitch in degrees.

Phenomenon Picture
------------------

.. image:: ../img/image228.jpeg