MPU-6050 Accelerometer and Gyroscope Tutorial For Begineers

In this tutorial, we will learn How o use an MPU-6050 accelerometer and gyroscope. We will be using a 0.96″ OLED display to display the data from the sensor. This project is excellent for beginners.

The MPU6050 module is an integrated MEMS (Micro-Electro-Mechanical System) that combines a 3-axis gyroscope and a 3-axis accelerometer which is used to measure acceleration, accurate velocity, orientation, and many other motion-related parameters of a system or object.

The MPU6050 is a popular accelerometer and gyroscope chip with high accuracy at an affordable price. check out the previous post How to use MPU6050 with Raspberry Pi Pico using MicroPython

Required Components

Arduino board
MPU6050 module
0.96″ OLED display
Breadboard
Jumper wires

MPU6050 Accelerometer and Gyroscope module

MPU6050 is a Micro-Electro-Mechanical System (MEMS) that features a three-axis MEMS gyroscope and a three-axis MEMS accelerometer. accelerometer measures linear acceleration in a gravitation field, which is the rate of change of velocity along a gravitational field, while the gyroscope measures rotational acceleration, which is the rate of change of angular velocity.

The accelerometer measures the acceleration of an object in three dimensions: up and down, left and right, and forward and backward. the gyroscope measures the rotation of an object in almost three axes: pitch, roll, and yaw. the module communicates with a microcontroller, such as an Arduino, or Raspberry Pi through the I2C protocol.

MPU6050 Pinout

MPU-6050 module has 8 pins.

VCC: This pin is used to supply power from 3.3V to 5V
GND: GND connected to the ground
SCL: I2C clock pin
SDA: I2C data pin
XDA: Serial data
XCL: Serial clock
AD0: Set the address
INT: Interrupt notifications Pin

Specification of MPU6050

Here are the specifications of the MPU-6050 Accelerometer and Gyroscope

Power supply voltage: 3.3V – 5V
Current consumption: 3.6mA and 50μA (sleep mode)
Operating temperature range: -40°C to 85°C
Accelerometer range: ±2g, ±4g, ±8g, or ±16g
Gyroscope range: ±250°/s, ±500°/s, ±1000°/s, or ±2000°/s
Resolution: 16-bit for both accelerometer and gyroscope
Communication interface: I2C , Address: 0x68 (default) or 0x69 (alternate)
Dimensions: 20mm x 16mm x 1.6mm

Other features

Digital Motion Processor (DMP) for complex motion processing
Motion detection with programmable interrupt
Temperature sensor with ±1°C accuracy

MPU6050 Application

Motion sensing
Robotics
Gaming
Virtual reality
Stabilization systems
Drones and UAVs
Navigation and orientation systems
Health Monitoring and fall detection in elderly care

3-Axis Gyroscope

MPU6050 has a 3-axis gyroscope that uses Micro Electro Mechanical System (MEMS) technology to measure rotational velocity. The gyroscope consists of a tiny mass that moves back and forth in response to rotational motion. As the mass moves, it causes a change in capacitance, which is detected by the MEMS sensors.

These sensors convert the motion into an electrical signal, which is processed by the MPU6050 to determine the rotational velocity around each axis (X, Y, and Z).

3-Axis Accelerometer

The MPU6050 has also a 3-axis accelerometer that measures how much the module is tilted in three different directions: left and right (X-axis), forward and backward (Y-axis), and up and down (Z-axis).

When MPU6050 is tilted, the mass inside the accelerometer moves, and this movement is detected by the MEMS sensors. then the sensor sends an electrical signal to MPU6050, which uses this data to calculate the angle of direction.

When you put MPU6050 on a flat surface, accelerometer values of 0 (zero) for acceleration along the X and Y axes, and a value of +1 for acceleration along the Z axis.

Wiring Between MPU6050 And Arduino

MPU-6050 Pin	Arduino Pin
VCC	5V
GND	GND
SDA	A4
SCL	A5

Note: On some MPU6050 modules, the SDA and SCL pins may be marked as “SDA/SDI” and “SCL/SCK” respectively.

Example Code – MPU6050 Arduino

#include <Wire.h>
const int MPU_addr=0x68;  // I2C address of MPU6050

int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;

void setup(){
  Wire.begin();
  Wire.beginTransmission(MPU_addr);
  Wire.write(0x6B);  // PWR_MGMT_1 register
  Wire.write(0);     // set to zero (wakes up the MPU6050)
  Wire.endTransmission(true);
  Serial.begin(9600);
}

void loop(){
  Wire.beginTransmission(MPU_addr);
  Wire.write(0x3B);  // starting with register 0x3B (ACCEL_XOUT_H)
  Wire.endTransmission(false);
  Wire.requestFrom(MPU_addr,14,true);  // request a total of 14 registers

  AcX=Wire.read()<<8|Wire.read();  // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)
  AcY=Wire.read()<<8|Wire.read();  // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
  AcZ=Wire.read()<<8|Wire.read();  // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)
  Tmp=Wire.read()<<8|Wire.read();  // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L)
  GyX=Wire.read()<<8|Wire.read();  // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
  GyY=Wire.read()<<8|Wire.read();  // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
  GyZ=Wire.read()<<8|Wire.read();  // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)
  
  Serial.print("AcX = "); Serial.print(AcX);
  Serial.print(" | AcY = "); Serial.print(AcY);
  Serial.print(" | AcZ = "); Serial.print(AcZ);
  Serial.print(" | Tmp = "); Serial.print(Tmp/340.00+36.53);  // temperature formula
  Serial.print(" | GyX = "); Serial.print(GyX);
  Serial.print(" | GyY = "); Serial.print(GyY);
  Serial.print(" | GyZ = "); Serial.println(GyZ);
  delay(1000);
}

#include <Wire.h>

const int MPU_addr=0x68; // I2C address of MPU6050

int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;

void setup(){

Wire.begin();

Wire.beginTransmission(MPU_addr);

Wire.write(0x6B); // PWR_MGMT_1 register

Wire.write(0); // set to zero (wakes up the MPU6050)

Wire.endTransmission(true);

Serial.begin(9600);

}

void loop(){

Wire.beginTransmission(MPU_addr);

Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H)

Wire.endTransmission(false);

Wire.requestFrom(MPU_addr,14,true); // request a total of 14 registers

AcX=Wire.read()<<8|Wire.read(); // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)

AcY=Wire.read()<<8|Wire.read(); // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)

AcZ=Wire.read()<<8|Wire.read(); // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)

Tmp=Wire.read()<<8|Wire.read(); // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L)

GyX=Wire.read()<<8|Wire.read(); // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)

GyY=Wire.read()<<8|Wire.read(); // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)

GyZ=Wire.read()<<8|Wire.read(); // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)

Serial.print("AcX = "); Serial.print(AcX);

Serial.print(" | AcY = "); Serial.print(AcY);

Serial.print(" | AcZ = "); Serial.print(AcZ);

Serial.print(" | Tmp = "); Serial.print(Tmp/340.00+36.53); // temperature formula

Serial.print(" | GyX = "); Serial.print(GyX);

Serial.print(" | GyY = "); Serial.print(GyY);

Serial.print(" | GyZ = "); Serial.println(GyZ);

delay(1000);

}

Results

After uploading the code, you can open the Serial Monitor in the Arduino IDE to check the output values. The MPU6050 gyro/accelerometer sensor can detect the angular position of the X, Y, and Z axes by tilting \sensor. The output values for each axis can be displayed on the serial monitor.

Measure Tilt Angle with MPU6050, Arduino, And Display On OLED

OLED	Arduino
VCC	3.3 to 5V
GND	GND
SCL	A5
SDA	A4

Source Code for Measure Tilt Angle with MPU6050 & OLED Display

To Display MPU6050 sensor reading in an OLED Display, we need to use the following libraries:

Adafruit_SSD1306: https://github.com/adafruit/Adafruit_SSD1306
Adafruit_GFX: https://github.com/adafruit/Adafruit-GFX-Library

/* Get tilt angles on X and Y, and rotation angle on Z
 * Angles are given in degrees, displays on SSD1306 OLED
 * 
 * License: MIT
 */
#include <Wire.h>
#include <Adafruit_GFX.h>
#include <Adafruit_SSD1306.h>
#include <MPU6050_light.h>

#define SCREEN_WIDTH 128 // OLED display width, in pixels
#define SCREEN_HEIGHT 64 // OLED display height, in pixels
// Declaration for an SSD1306 display connected to I2C (SDA, SCL pins)
Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire);


MPU6050 mpu(Wire);
unsigned long timer = 0;

void setup() {
  Serial.begin(115200);                           // Ensure serial monitor set to this value also    
  if(!display.begin(SSD1306_SWITCHCAPVCC, 0x3C))  // Address 0x3C for most of these displays, if doesn't work try 0x3D 
  { 
    Serial.println(F("SSD1306 allocation failed"));
    for(;;);                                      // Don't proceed, loop forever
  } 
  display.setTextSize(1);             
  display.setTextColor(SSD1306_WHITE);            // Draw white text
  display.clearDisplay();                         
  Wire.begin();
  mpu.begin();
  display.println(F("Calculating gyro offset, do not move MPU6050"));
  display.display();        
  mpu.calcGyroOffsets();                          // This does the calibration
  display.setTextSize(2);          
}

void loop() {
  mpu.update();  
  if((millis()-timer)>10)                         // print data every 10ms
  {                                           
    display.clearDisplay();                       // clear screen
    display.setCursor(0,0);                         
    display.print("P : ");
    display.println(mpu.getAngleX());
    display.print("R : ");
    display.println(mpu.getAngleY());
    display.print("Y : ");
    display.print(mpu.getAngleZ());
    display.display();                            // display data
    timer = millis();  
  }
}

/* Get tilt angles on X and Y, and rotation angle on Z

* Angles are given in degrees, displays on SSD1306 OLED

* License: MIT

#include <Wire.h>

#include <Adafruit_GFX.h>

#include <Adafruit_SSD1306.h>

#include <MPU6050_light.h>

#define SCREEN_WIDTH 128 // OLED display width, in pixels

#define SCREEN_HEIGHT 64 // OLED display height, in pixels

// Declaration for an SSD1306 display connected to I2C (SDA, SCL pins)

Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire);

MPU6050 mpu(Wire);

unsigned long timer = 0;

void setup() {

Serial.begin(115200); // Ensure serial monitor set to this value also

if(!display.begin(SSD1306_SWITCHCAPVCC, 0x3C)) // Address 0x3C for most of these displays, if doesn't work try 0x3D

{

Serial.println(F("SSD1306 allocation failed"));

for(;;); // Don't proceed, loop forever

}

display.setTextSize(1);

display.setTextColor(SSD1306_WHITE); // Draw white text

display.clearDisplay();

Wire.begin();

mpu.begin();

display.println(F("Calculating gyro offset, do not move MPU6050"));

display.display();

mpu.calcGyroOffsets(); // This does the calibration

display.setTextSize(2);

}

void loop() {

mpu.update();

if((millis()-timer)>10) // print data every 10ms

{

display.clearDisplay(); // clear screen

display.setCursor(0,0);

display.print("P : ");

display.println(mpu.getAngleX());

display.print("R : ");

display.println(mpu.getAngleY());

display.print("Y : ");

display.print(mpu.getAngleZ());

display.display(); // display data

timer = millis();

}

Working

Move the sensor around and watch the readings change.

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Arduino MPU-6050 Accelerometer and Gyroscope Tutorial For Begineers

Required Components

MPU6050 Accelerometer and Gyroscope module

MPU6050 Pinout

Specification of MPU6050

Other features

MPU6050 Application

3-Axis Gyroscope

3-Axis Accelerometer

Example Code – MPU6050 Arduino

Results

Measure Tilt Angle with MPU6050, Arduino, And Display On OLED

Source Code for Measure Tilt Angle with MPU6050 & OLED Display

Working

Related Posts

DIY Arduino GPS Tracker Project: Track Location Easily

ESP32 Real-time Battery Current & Power Monitoring in IoT

LoRa GPS Based IoT Geo-Fencing Using Arduino, and ESP32

1 Comment

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