Skip to main content

Accelerometer + Gyroscope Sensor

Introduction​

The Accelerometer + Gyroscope Sensor Module consists of a MPU6050 sensor, a popular device that integrates both accelerometer and gyroscope functionalities. It detects motion and orientation in three-dimensional space.

What is the MPU6050?​

The MPU6050 is a 6-axis motion tracking device from InvenSense, combining a 3-axis accelerometer and a 3-axis gyroscope on a single chip.

  • Accelerometer: Measures acceleration forces like gravity, allowing you to determine speed and tilt.
  • Gyroscope: Measures angular velocity, detecting rotation around the X, Y, and Z axes.

This sensor is widely used in robotics, drones, smartphones for gesture recognition, stabilization, orientation detection, and step counting.

How the MPU6050 Works​

Accelerometer

  • Measures acceleration based on forces like gravity.
  • When tilted, the X, Y, and Z values change depending on gravitational force.

Gyroscope

  • Measures rotational speed.
  • Detects the angle at which a device is rotating, useful in systems like drones.

Key Features of MPU6050​

  • 6-axis motion sensing: 3-axis accelerometer + 3-axis gyroscope.
  • DMP (Digital Motion Processor): Internal processor for complex motion data.
  • I2C Interface: Communicates using the I2C protocol.
  • Small and Low Power: Suitable for portable or battery-powered projects.

Real-World Applications​

  • Drones: Flight stabilization and orientation control.
  • Smartphones: Screen rotation and motion-based gaming.
  • Robotics: Movement and balance understanding.

Pinout for MPU6050 Module​

  • VCC: Power supply (3.3V to 5V).
  • GND: Ground.
  • SCL: Clock line for I2C.
  • SDA: Data line for I2C.

Check out the MPU6050 Datasheet for further technical details.

Code Guide​

Library and Sensor Setup​

  • Library Name: AccelAndGyro.h
  • I2C address of the sensor: 0x69

Code Flow​

#include <AccelAndGyro.h>  // Include the library
AccelAndGyro sensor;       // Create an object of the class

void setup() {
  Serial.begin(115200);    // Start Serial communication
  Wire.begin();            // Start I2C communication
  
  if(sensor.begin()) {
    // Sensor is connected
  } else {
    // Sensor is disconnected
  }
}

void loop() {
  if (sensor.ping()) {
    // Display data
  }
}

Code Explanation​

  1. Include Required Library: Include the AccelAndGyro.h library to access sensor functions.
  2. Create Sensor Object: Initialize the sensor object for communication.
  3. Initialize Communication: Setup serial and I2C communication in setup().
  4. Check Sensor Connection: Confirm if the sensor is connected.
  5. Monitor Sensor: Continuously check the sensor's connection status and display data.

Available Functions in AccelAndGyro.h​

Class Creation and Initialization Functions​

  • Create an Object of the Class:

    AccelAndGyro sensor;

    Creates an object for the sensor interaction.

  • Initialize the Sensor:

    bool begin();

    Initializes the sensor and returns true if successful.

  • Check Connection Status:

    bool ping();

    Checks if the sensor is connected.

Retrieve Sensor Data​

Acceleration Data​

  • Get Acceleration: 
    float getAccelX(bool print=true);
    float getAccelY(bool print=true);
    float getAccelZ(bool print=true);
    Retrieves the raw acceleration data for X, Y, and Z axes.

Gyroscope Data​

  • Get Gyroscope Data: 
    float getGyroX(bool print=true);
    float getGyroY(bool print=true);
    float getGyroZ(bool print=true);
    Retrieves raw angular velocity for X, Y, and Z axes.

Tilt Data​

  • Get Tilt: 
    float getTiltX(bool print=true);
    float getTiltY(bool print=true);
    float getTiltZ(bool print=true);
    Retrieves tilt angles for X, Y, and Z axes.

Temperature and Motion Detection​

Temperature Data​

  • Get Temperature: 
    float getTempC(bool print=true);
    float getTempF(bool print=true);
    Retrieves the temperature data in Celsius and Fahrenheit.

Motion Detection​

  • Detect Motion: 
    bool getMotionStatus(bool print=true);
    Returns true if motion is detected.

Advanced Features​

The AccelAndGyro library offers advanced calibration functions to fine-tune the sensor for higher precision. You can explore example codes in the Arduino IDE under File -> Examples -> AccelAndGyro_Demo.