راه اندازی و تست ماژول MPU6050

#include <Wire.h>
const int MPU = 0x68;
float AccX, AccY, AccZ;
float GyroX, GyroY, GyroZ;
float accAngleX, accAngleY, gyroAngleX, gyroAngleY, gyroAngleZ;
float roll, pitch, yaw;
float AccErrorX, AccErrorY, GyroErrorX, GyroErrorY, GyroErrorZ;
float elapsedTime, currentTime, previousTime;
int c = 0;
void setup() {
  Serial.begin(19200);
  Wire.begin();      
  Wire.beginTransmission(MPU);   
  Wire.write(0x6B);             
  Wire.write(0x00);             
  Wire.endTransmission(true);        
 
  calculate_IMU_error();
  delay(20);
}
void loop() {
  Wire.beginTransmission(MPU);
  Wire.write(0x3B);
  Wire.endTransmission(false);
  Wire.requestFrom(MPU, 6, true);
  AccX = (Wire.read() << 8 | Wire.read()) / 16384.0; 
  AccY = (Wire.read() << 8 | Wire.read()) / 16384.0; 
  AccZ = (Wire.read() << 8 | Wire.read()) / 16384.0; 
  accAngleX = (atan(AccY / sqrt(pow(AccX, 2) + pow(AccZ, 2))) * 180 / PI) - 0.58; 
  accAngleY = (atan(-1 * AccX / sqrt(pow(AccY, 2) + pow(AccZ, 2))) * 180 / PI) + 1.58;
  previousTime = currentTime;      
  currentTime = millis();           
  elapsedTime = (currentTime - previousTime) / 1000; 
  Wire.beginTransmission(MPU);
  Wire.write(0x43); 
  Wire.endTransmission(false);
  Wire.requestFrom(MPU, 6, true); 
  GyroX = (Wire.read() << 8 | Wire.read()) / 131.0; 
  GyroY = (Wire.read() << 8 | Wire.read()) / 131.0;
  GyroZ = (Wire.read() << 8 | Wire.read()) / 131.0;
  // Correct the outputs with the calculated error values
  GyroX = GyroX + 0.56; // GyroErrorX ~(-0.56)
  GyroY = GyroY - 2; // GyroErrorY ~(2)
  GyroZ = GyroZ + 0.79; // GyroErrorZ ~ (-0.8)
  gyroAngleX = gyroAngleX + GyroX * elapsedTime; // deg/s * s = deg
  gyroAngleY = gyroAngleY + GyroY * elapsedTime;
  yaw =  yaw + GyroZ * elapsedTime;
 
  roll = 0.96 * gyroAngleX + 0.04 * accAngleX;
  pitch = 0.96 * gyroAngleY + 0.04 * accAngleY;
  
  // Print the values on the serial monitor
  Serial.print(roll);
  Serial.print("/");
  Serial.print(pitch);
  Serial.print("/");
  Serial.println(yaw);
}
void calculate_IMU_error() {
  while (c < 200) {
    Wire.beginTransmission(MPU);
    Wire.write(0x3B);
    Wire.endTransmission(false);
    Wire.requestFrom(MPU, 6, true);
    AccX = (Wire.read() << 8 | Wire.read()) / 16384.0 ;
    AccY = (Wire.read() << 8 | Wire.read()) / 16384.0 ;
    AccZ = (Wire.read() << 8 | Wire.read()) / 16384.0 ;
    // Sum all readings
    AccErrorX = AccErrorX + ((atan((AccY) / sqrt(pow((AccX), 2) + pow((AccZ), 2))) * 180 / PI));
    AccErrorY = AccErrorY + ((atan(-1 * (AccX) / sqrt(pow((AccY), 2) + pow((AccZ), 2))) * 180 / PI));
    c++;
  }
  AccErrorX = AccErrorX / 200;
  AccErrorY = AccErrorY / 200;
  c = 0;
  while (c < 200) {
    Wire.beginTransmission(MPU);
    Wire.write(0x43);
    Wire.endTransmission(false);
    Wire.requestFrom(MPU, 6, true);
    GyroX = Wire.read() << 8 | Wire.read();
    GyroY = Wire.read() << 8 | Wire.read();
    GyroZ = Wire.read() << 8 | Wire.read();
    // Sum all readings
    GyroErrorX = GyroErrorX + (GyroX / 131.0);
    GyroErrorY = GyroErrorY + (GyroY / 131.0);
    GyroErrorZ = GyroErrorZ + (GyroZ / 131.0);
    c++;
  }
  GyroErrorX = GyroErrorX / 200;
  GyroErrorY = GyroErrorY / 200;
  GyroErrorZ = GyroErrorZ / 200;
  Serial.print("AccErrorX: ");
  Serial.println(AccErrorX);
  Serial.print("AccErrorY: ");
  Serial.println(AccErrorY);
  Serial.print("GyroErrorX: ");
  Serial.println(GyroErrorX);
  Serial.print("GyroErrorY: ");
  Serial.println(GyroErrorY);
  Serial.print("GyroErrorZ: ");
  Serial.println(GyroErrorZ);
}