Inertial Measurement Unit (IMU)

The current library is based on the PMU60x0 IMU from InvenSense Inc. Developped around the GY-521 DIY module, this library is tested with the MPU6050 chip.

The MPU-6050 sensor module contains an accelerometer and a gyro in a single chip. It is very accurate, as it contains 16-bits analog to digital conversion hardware for each channel. Therefore it captures the x, y, and z channel at the same time. The sensor uses the I2C-bus to interface with the Arduino.

Sensor features

• Use the chip: MPU-6050.
• Power supply: 3-5v (internal low dropout regulator).
• Communication modes: standard IIC communications protocol.
• Chip built-in 16bit AD converter, 16-bit data output.
• Immersion Gold PCB machine welding process to ensure quality.
• Tri-Axis angular rate sensor (gyro) with a sensitivity up to 131 LSBs/dps and a fullscale range of ±250, ±500, ±1000, and ±2000dps
• Tri-Axis accelerometer with a programmable full scale range of ±2g, ±4g, ±8g and ±16g

How to use the library

While preparing a more detailed Wiki page, some basics example of usage are in the examples folder. However the table below show the most important data structure and methods available with this library.

Basics

Library	Descriptions
MPU60x0	Constructor
IMU_DATA	Data structure used to hold sensor's data

As shown below, the IMU_DATA is a struct which contains all data available with the sensor.

    struct{
        float accelX;
        float accelY;
        float accelZ;
        
        float temp;
        
        float gyroX;
        float gyroY;
        float gyroZ;
    } IMU_DATA

Useful methods

Methods	Descriptions
begin()	Initialize the sensor with default configurations
whoami()	Read the sensor's I2C address - Could be used to check correct wiring of the sensor
read()	read pre-processed data from the sensor (angular velocity in °/s, acceleration in g, temperature in °C)
getData()	read raw data from the sensor
getGyroX()	read gyroscope x-axis angular velocity
getGyroY()	read gyroscope y-axis angular velocity
getGyroZ()	read gyroscope z-axis angular velocity
getAccelX()	get acceleration along the x-axis
getAccelY()	get acceleration along the y-axis
getAccelZ()	get acceleration along the z-axis
getTemp()	get temperature