Simple test

Ensure your device works with this simple test.

examples/mpu6050_simpletest.py

# SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries
# SPDX-License-Identifier: MIT

import time

import board

import adafruit_mpu6050

i2c = board.I2C()  # uses board.SCL and board.SDA
# i2c = board.STEMMA_I2C()  # For using the built-in STEMMA QT connector on a microcontroller
mpu = adafruit_mpu6050.MPU6050(i2c)

while True:
    print(
        f"Acceleration: X:{mpu.acceleration[0]:.2f}, Y: {mpu.acceleration[1]:.2f}, Z: {mpu.acceleration[2]:.2f} m/s^2"  # noqa: E501
    )
    print(f"Gyro X:{mpu.gyro[0]:.2f}, Y: {mpu.gyro[1]:.2f}, Z: {mpu.gyro[2]:.2f} rad/s")
    print(f"Temperature: {mpu.temperature:.2f} C")
    print("")
    time.sleep(1)

Plotter Example

See the effects of changing the gyroscope and accelerometer range by viewing the data in a serial plotter

examples/mpu6050_plotter_example.py

# SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries
# SPDX-License-Identifier: MIT

import time

import board

import adafruit_mpu6050

i2c = board.I2C()  # uses board.SCL and board.SDA
# i2c = board.STEMMA_I2C()  # For using the built-in STEMMA QT connector on a microcontroller
mpu = adafruit_mpu6050.MPU6050(i2c)
mpu.accelerometer_range = adafruit_mpu6050.Range.RANGE_2_G
mpu.gyro_range = adafruit_mpu6050.GyroRange.RANGE_250_DPS

while True:
    # this prints out all the values like a tuple which Mu's plotter prefer
    print(
        f"({mpu.acceleration[0]:.2f}, {mpu.acceleration[1]:.2f}, {mpu.acceleration[2]:.2f} ",
        end=", ",
    )
    print(f"{mpu.gyro[0]:.2f}, {mpu.gyro[1]:.2f}, {mpu.gyro[2]:.2f})")
    time.sleep(0.010)

Sleep Example

Observe how the cycle and sleep modes effect measurements by viewing the data in a serial plotter

examples/mpu6050_sleep_example.py

# SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries
# SPDX-License-Identifier: MIT

import time

import board

import adafruit_mpu6050

i2c = board.I2C()  # uses board.SCL and board.SDA
# i2c = board.STEMMA_I2C()  # For using the built-in STEMMA QT connector on a microcontroller
mpu = adafruit_mpu6050.MPU6050(i2c)

# This example is meant to be used with the serial plotter which makes
# it easier to see how the readings change with different settings.
# Make sure to poke and prod the sensor while the demo is running to
# generate some interesting data!

while True:
    # first show some 'normal' readings

    mpu.sleep = False
    mpu.cycle = False

    for count in range(0, 100):
        print(mpu.acceleration)
        time.sleep(0.010)

    # Next, set a slow cycle rate so the effect can be seen clearly.
    mpu.cycle_Rate = adafruit_mpu6050.Rate.CYCLE_5_HZ
    # ensure that we're not sleeping or cycle won't work
    mpu.sleep = False
    # Finally, enable cycle mode
    mpu.cycle = True

    for count in range(0, 100):
        print(mpu.acceleration)
        time.sleep(0.010)

    # Finally enable sleep mode. Note that while we can still fetch
    #  data from the measurement registers, the measurements are not
    #  updated. In sleep mode the accelerometer and gyroscope are
    #  deactivated to save power, so measurements are halted.

    mpu.cycle = False
    mpu.sleep = True

    for count in range(0, 100):
        print(mpu.acceleration)
        time.sleep(0.010)

Inclinometer Example

Provides an example on how to use the sensor as an inclinometer

examples/mpu6050_inclinometer.py

# SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries
# SPDX-License-Identifier: MIT

# Display inclination data five times per second

# See this page to learn the math and physics principals behind this example:
# https://learn.adafruit.com/how-tall-is-it/gravity-and-acceleration

import time
from math import atan2, degrees

import board

import adafruit_mpu6050

i2c = board.I2C()  # uses board.SCL and board.SDA
# i2c = board.STEMMA_I2C()  # For using the built-in STEMMA QT connector on a microcontroller
sensor = adafruit_mpu6050.MPU6050(i2c)


# Given a point (x, y) return the angle of that point relative to x axis.
# Returns: angle in degrees


def vector_2_degrees(x, y):
    angle = degrees(atan2(y, x))
    if angle < 0:
        angle += 360
    return angle


# Given an accelerometer sensor object return the inclination angles of X/Z and Y/Z
# Returns: tuple containing the two angles in degrees


def get_inclination(_sensor):
    x, y, z = _sensor.acceleration
    return vector_2_degrees(x, z), vector_2_degrees(y, z)


while True:
    angle_xz, angle_yz = get_inclination(sensor)
    print(f"XZ angle = {angle_xz:6.2f}deg   YZ angle = {angle_yz:6.2f}deg")
    time.sleep(0.2)

DisplayIO Simpletest

This is a simple test for boards with built-in display.

examples/mpu6050_displayio_simpletest.py

# SPDX-FileCopyrightText: 2024 Tim Cocks for Adafruit Industries
# SPDX-FileCopyrightText: 2024 Jose D. Montoya
#
# SPDX-License-Identifier: MIT

import time

import board
from adafruit_display_text.bitmap_label import Label
from displayio import Group
from terminalio import FONT

import adafruit_mpu6050

# Simple demo of using the built-in display.
# create a main_group to hold anything we want to show on the display.
main_group = Group()
# Initialize I2C bus and sensor.
i2c = board.I2C()  # uses board.SCL and board.SDA
mpu = adafruit_mpu6050.MPU6050(i2c)


# Create Label(s) to show the readings. If you have a very small
# display you may need to change to scale=1.
display_output_acceleration = Label(FONT, text="", scale=1)
display_output_gyro = Label(FONT, text="", scale=1)
display_output_temperature = Label(FONT, text="", scale=1)

# place the label(s) in the middle of the screen with anchored positioning
display_output_acceleration.anchor_point = (0, 0)
display_output_acceleration.anchored_position = (
    4,
    board.DISPLAY.height // 2 - 60,
)
display_output_gyro.anchor_point = (0, 0)
display_output_gyro.anchored_position = (
    4,
    board.DISPLAY.height // 2 - 40,
)
display_output_temperature.anchor_point = (0, 0)
display_output_temperature.anchored_position = (
    4,
    board.DISPLAY.height // 2 - 20,
)


# add the label(s) to the main_group
main_group.append(display_output_acceleration)
main_group.append(display_output_gyro)
main_group.append(display_output_temperature)

# set the main_group as the root_group of the built-in DISPLAY
board.DISPLAY.root_group = main_group

# begin main loop
while True:
    # update the text of the label(s) to show the sensor readings
    accx, accy, accz = mpu.acceleration
    gyro_x, gyro_y, gyro_z = mpu.gyro
    display_output_acceleration.text = f"Acc X:{accx:.1f} Y:{accy:.1f} Z:{accz:.1f} m/s^2"
    display_output_gyro.text = f"Gyro X:{gyro_x:.1f} Y:{gyro_y:.1f} Z:{gyro_z:.1f} rad/s"
    display_output_temperature.text = f"Temp: {mpu.temperature:.1f} C"
    # wait for a bit
    time.sleep(0.5)