adafruit_mpu6050
¶
CircuitPython helper library for the MPU6050 6-DoF Accelerometer and Gyroscope
Author(s): Bryan Siepert
Implementation Notes¶
Hardware:
Adafruit MPU-6050 6-DoF Accel and Gyro Sensor (Product ID: 3886)
Software and Dependencies:
Adafruit CircuitPython firmware for the supported boards: https://circuitpython.org/downloads
Adafruit’s Bus Device library: https://github.com/adafruit/Adafruit_CircuitPython_BusDevice
Adafruit’s Register library: https://github.com/adafruit/Adafruit_CircuitPython_Register
- class adafruit_mpu6050.Bandwidth¶
Allowed values for
filter_bandwidth
.Bandwidth.BAND_260_HZ
Bandwidth.BAND_184_HZ
Bandwidth.BAND_94_HZ
Bandwidth.BAND_44_HZ
Bandwidth.BAND_21_HZ
Bandwidth.BAND_10_HZ
Bandwidth.BAND_5_HZ
- class adafruit_mpu6050.ClockSource¶
Allowed values for
clock_source
.:py:attr:’ClockSource.CLKSEL_INTERNAL_8MHz
:py:attr:’ClockSource.CLKSEL_INTERNAL_X
:py:attr:’ClockSource.CLKSEL_INTERNAL_Y
:py:attr:’ClockSource.CLKSEL_INTERNAL_Z
:py:attr:’ClockSource.CLKSEL_EXTERNAL_32
:py:attr:’ClockSource.CLKSEL_EXTERNAL_19
:py:attr:’ClockSource.CLKSEL_RESERVED
:py:attr:’ClockSource.CLKSEL_STOP
- class adafruit_mpu6050.GyroRange¶
Allowed values for
gyro_range
.GyroRange.RANGE_250_DPS
GyroRange.RANGE_500_DPS
GyroRange.RANGE_1000_DPS
GyroRange.RANGE_2000_DPS
- class adafruit_mpu6050.MPU6050(i2c_bus: I2C, address: int = 104)¶
Driver for the MPU6050 6-DoF accelerometer and gyroscope.
- Parameters:
Quickstart: Importing and using the device
Here is an example of using the
MPU6050
class. First you will need to import the libraries to use the sensorimport board import adafruit_mpu6050
Once this is done you can define your
board.I2C
object and define your sensor objecti2c = board.I2C() # uses board.SCL and board.SDA mpu = adafruit_mpu6050.MPU6050(i2c)
Now you have access to the
acceleration
,gyro
andtemperature
attributesacc_x, acc_y, acc_z = sensor.acceleration gyro_x, gyro_y, gyro_z = sensor.gyro temperature = sensor.temperature
- property cycle: bool¶
Enable or disable periodic measurement at a rate set by
cycle_rate()
. If the sensor was in sleep mode, it will be waken up to cycle
- property filter_bandwidth: int¶
The bandwidth of the gyroscope Digital Low Pass Filter. Must be a
GyroRange
- sample_rate_divisor = 25¶
The sample rate divisor. See the datasheet for additional detail
- class adafruit_mpu6050.Range¶
Allowed values for
accelerometer_range
.Range.RANGE_2_G
Range.RANGE_4_G
Range.RANGE_8_G
Range.RANGE_16_G
- class adafruit_mpu6050.Rate¶
Allowed values for
cycle_rate
.Rate.CYCLE_1_25_HZ
Rate.CYCLE_5_HZ
Rate.CYCLE_20_HZ
Rate.CYCLE_40_HZ