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Lesson 05: Gyroscope & Accelerometer Module (MPU6050)

In this lesson, you will learn how to use the Raspberry Pi Pico W with the MPU6050 module, which combines a gyroscope and accelerometer. You’ll discover how to connect the MPU6050 to the Raspberry Pi Pico W and read its acceleration and gyroscopic data using MicroPython. The lesson will guide you through writing a script to continuously display the X, Y, and Z values of both the accelerometer and gyroscope.

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
Universal Maker Sensor Kit	94	Universal Maker Sensor Kit

You can also buy them separately from the links below.

Component Introduction	Purchase Link
Raspberry Pi Pico W	BUY
Gyroscope & Accelerometer Module (MPU6050)	BUY
Breadboard	BUY

Wiring

Code

Note

• Open the 05_mpu6050_module.py file under the path of universal-maker-sensor-kit-main/pico/Lesson_05_MPU6050_Module or copy this code into Thonny, then click “Run Current Script” or simply press F5 to run it. For detailed tutorials, please refer to Open and Run Code Directly.

• Here you need to use the imu.py and vector3d.py, please check if it has been uploaded to Pico W, for a detailed tutorial refer to Upload the Libraries to Pico.

• Don’t forget to click on the “MicroPython (Raspberry Pi Pico)” interpreter in the bottom right corner.

# Import libraries
from imu import MPU6050
from machine import I2C, Pin
import time

# Initialize I2C for MPU6050
i2c = I2C(1, sda=Pin(20), scl=Pin(21), freq=400000)  # I2C bus 1, SDA pin 20, SCL pin 21, 400kHz

# Create MPU6050 object
mpu = MPU6050(i2c)

# Main loop to read and print sensor data
while True:
    # Print accelerometer data (x, y, z)
    print("-" * 50)
    print("x: %s, y: %s, z: %s" % (mpu.accel.x, mpu.accel.y, mpu.accel.z))
    time.sleep(0.1)

    # Print gyroscope data (x, y, z)
    print("X: %s, Y: %s, Y: %s" % (mpu.gyro.x, mpu.gyro.y, mpu.gyro.z))
    time.sleep(0.1)

    # Delay between readings
    time.sleep(0.5)

Code Analysis

1. Importing Libraries and Initializing I2C

   The code starts by importing necessary libraries. The imu library is used to read the values of the MPU6050 sensor, and machine allows controlling the hardware features of the Raspberry Pi Pico W. I2C is initialized using specific pins (SDA and SCL) for data communication.

   For more information about the imu library, please visit micropython-IMU/micropython-mpu9x50.

   from imu import MPU6050
   from machine import I2C, Pin
   import time
   
   i2c = I2C(1, sda=Pin(20), scl=Pin(21), freq=400000)
   

2. Creating MPU6050 Object

   An object of the MPU6050 sensor is created by passing the initialized I2C. This object will be used to access sensor data.

   mpu = MPU6050(i2c)
   

3. Reading and Printing Sensor Data in a Loop

   The code then enters an infinite loop where it continually reads and prints accelerometer and gyroscope data. time.sleep is used to create a delay between successive readings.

   while True:
       print("-" * 50)
       print("x: %s, y: %s, z: %s" % (mpu.accel.x, mpu.accel.y, mpu.accel.z))
       time.sleep(0.1)
       print("X: %s, Y: %s, Y: %s" % (mpu.gyro.x, mpu.gyro.y, mpu.gyro.z))
       time.sleep(0.1)
       time.sleep(0.5)