MPU-6050

class electronics.devices.mpu6050.MPU6050I2C(bus, address=104)

Interface to a MPU-6050 Six-Axis (Gyro + Accelerometer) MEMS MotionTracking™ Device

Usage:

• Use set_range() to specify the measurement range of to accel and gyro sensor
• Use wakeup() to start the MEMS units in the sensor or use instance of this class as a new context
• Use temperature(), acceleration() and angular_rate() to read the sensor values

Example:

>>> sensor = MPU6050I2C(gw)
>>> sensor.set_range(accel=MPU6050I2C.RANGE_ACCEL_2G, gyro=MPU6050I2C.RANGE_GYRO_250DEG)
>>>
>>> # Read a value
>>> sensor.wakeup()
>>> sensor.temperature()
37.29
>>> sensor.sleep()
>>>
>>> # Read a value using a context manager instead of wakeup() and sleep()
>>> with sensor:
...     sensor.temperature()
38.8

acceleration()

Return the acceleration in G’s

Returns:Acceleration for every axis as a tuple Example:

>>> sensor = MPU6050I2C(gw)
>>> sensor.wakeup()
>>> sensor.acceleration()
(0.6279296875, 0.87890625, 1.1298828125)

angular_rate()

Return the angular rate for every axis in degree/second.

Returns:Angular rate for every axis as a tuple Example:

>>> sensor = MPU6050I2C(gw)
>>> sensor.wakeup()
>>> sensor.angular_rate()
(1.380859375, 1.6318359375, 1.8828125)

set_range(accel=1, gyro=1)

Set the measurement range for the accel and gyro MEMS. Higher range means less resolution.

Parameters:

• accel – a RANGE_ACCEL_* constant
• gyro – a RANGE_GYRO_* constant

Example:

sensor = MPU6050I2C(gateway_class_instance)
sensor.set_range(
    accel=MPU6050I2C.RANGE_ACCEL_2G,
    gyro=MPU6050I2C.RANGE_GYRO_250DEG
    )

set_slave_bus_bypass(enable)

Put the aux i2c bus on the MPU-6050 in bypass mode, thus connecting it to the main i2c bus directly

Dont forget to use wakeup() or else the slave bus is unavailable :param enable: :return:

sleep()

Put the sensor back to sleep.

temperature()

Read the value for the internal temperature sensor.

Returns:Temperature in degree celcius as float Example:

>>> sensor = MPU6050I2C(gw)
>>> sensor.wakeup()
>>> sensor.temperature()
49.38

wakeup()

Wake the sensor from sleep.