MPU6050

Kaluma library for MPU6050 6-axis motion sensor (3-axis accelerometer and 3-axis gyroscope).

Wiring

Here is a wiring example for I2C0.

Raspberry Pi Pico	MPU6050
3V3	VCC
GND	GND
GP4 (I2C0 SDA)	SDA
GP5 (I2C0 SCL)	SCL

Install

npm install https://github.com/niklauslee/mpu6050

Usage

Here is an example code for reading raw data from MPU6050.

const {I2C} = require('i2c');
const i2c0 = new I2C(0);

const {MPU6050} = require('mpu6050');
const mpu = new MPU6050();
mpu.setup(i2c0);

setInterval(() => {
  let v = mpu.read();
  console.log(`ax=${v[0]},ay=${v[1]},az=${v[2]},gx=${v[4]},gy=${v[5]},gz=${v[6]},tmp=${v[3]}`);
}, 100);

API

Class: MPU6050

A class for MPU6050.

new MPU6050()

Create an instance of MPU6050 driver.

mpu6050.setup(i2c)

• i2c <I2C> An instance of I2C to communicate.

Setup MPU6050 for a given I2C bus.

mpu6050.read()

• Returns: <Int16Array[7]> An array of 16-bit signed integer value. The elements of returned array are as below:
  • [0] : X-axis of accelerometer (16-bit signed int)
  • [1] : Y-axis of accelerometer (16-bit signed int)
  • [2] : Z-axis of accelerometer (16-bit signed int)
  • [3] : Temperature (16-bit signed int)
  • [4] : X-axis of gyroscope (16-bit signed int)
  • [5] : Y-axis of gyroscope (16-bit signed int)
  • [6] : Z-axis of gyroscope (16-bit signed int)

The returned values are raw data, so you may need to calibrate the raw data or apply some filters.