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| #include "Wire.h"
#include "I2Cdev.h"
#include "MPU6050.h"
MPU6050 accelgyro;
int16_t ax, ay, az; //mesures brutes
int16_t gx, gy, gz;
int8_t Accel_range;
int8_t Gyro_range;
float angle=0;
void setup() {
Wire.begin(); //I2C bus
Serial.begin(9600);
while (!Serial)
; // wait for serial port to connect. Needed for native USB (LEONARDO)
// initialize device
Serial.println("Initialisation I2C...");
accelgyro.initialize();
// verify connection
Serial.println("Test de la conection du dispositif ...");
Serial.println(accelgyro.testConnection() ? "MPU6050 connection reussie" : "MPU6050 connection echec");
delay(1000);
}
void loop() {
accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
angle=(angle+(float)gz*0.01/131);
Serial.println(angle);
delay(10);
} |
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