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.

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

Name	ITEMS IN THIS KIT	LINK
Raphael Kit	337	Raphael Kit

You can also buy them separately from the links below.

COMPONENT INTRODUCTION	PURCHASE LINK
GPIO Extension Board	BUY
Breadboard	BUY
Jumper Wires	BUY
MPU6050 Module	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.

Experimental Procedures¶

Step 1: Build the circuit.

Step 2: Setup I2C (see Appendix I2C Configuration. If you have set I2C, skip this step.)

Step 2: Go to the folder of the code.

cd ~/raphael-kit/nodejs/

Step 3: Install dependencies.

sudo npm install mpu6050-gyro

Step 4: Run the code.

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

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

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

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.