📝 (MPU6050): Add example

Author: leon0399

.github/workflows/ci.yml

@@ -26,6 +26,7 @@ jobs:
         example:
           - "examples/PCA9685/Servo/Servo.ino"
           - "examples/PCA9685/VibroPulse/VibroPulse.ino"
+          - "examples/MPU6050/BasicReadings/BasicReadings.ino"
         boards: [ [ uno, esp32dev ] ]
 
     steps:

examples/MPU6050/BasicReadings/BasicReadings.ino

@@ -0,0 +1,46 @@
+#include <I2CDevLib.h>
+#include <i2cdev/mpu6050.hpp>
+
+i2cdev::MPU6050 mpu6050;
+
+void setup(void) {
+    Serial.begin(115200);
+    while (!Serial)
+        delay(10); // will pause Zero, Leonardo, etc until serial console opens
+
+    Wire.begin();
+
+    Serial.println("I2CDevLibContrib MPU6050 test!");
+
+    // Wait for the MPU6050 to be ready
+    delay(1000);
+
+    if (mpu6050.check() != I2CDEV_RESULT_OK) {
+        Serial.println("Failed to find MPU6050 chip");
+        while (true) {}
+    }
+    Serial.println("MPU6050 Found!");
+
+    if (mpu6050.reset() != I2CDEV_RESULT_OK) {
+        Serial.println("Failed to reset MPU6050 chip");
+        while (true) {}
+    }
+
+    mpu6050.setAccelerometerRange(MPU6050_ACCEL_RANGE_8G);
+    mpu6050.setGyroscopeRange(MPU6050_GYRO_RANGE_500_DEG);
+    mpu6050.setFilterBandwidth(MPU6050_BANDWIDTH_21_HZ);
+
+    Serial.println("");
+    delay(100);
+}
+
+void loop() {
+    auto measurements = mpu6050.getAllMeasurements();
+
+    Serial.print("Accelerometer X: "); Serial.print(measurements.accel.x); Serial.print(" Y: "); Serial.print(measurements.accel.y); Serial.print(" Z: "); Serial.println(measurements.accel.z);
+    Serial.print("Gyroscope     X: "); Serial.print(measurements.gyro.x); Serial.print(" Y: "); Serial.print(measurements.gyro.y); Serial.print(" Z: "); Serial.println(measurements.gyro.z);
+    Serial.print("Temperature:     "); Serial.print(measurements.temperature); Serial.println(" C");
+    Serial.println("");
+
+    delay(500);
+}