User manual

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accelgyro.initialize();

// verify connection

Serial.println("Testing device connections...");

Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050

connection failed");

// configure Arduino LED for

pinMode(LED_PIN, OUTPUT);

}

void loop() {

// read raw accel/gyro measurements from device

accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);

// these methods (and a few others) are also available

//accelgyro.getAcceleration(&ax, &ay, &az);

//accelgyro.getRotation(&gx, &gy, &gz);

// display tab-separated accel/gyro x/y/z values

Serial.print("a/g:\t");

Serial.print(ax);

Serial.print("\t");

Serial.print(ay);

Serial.print("\t");

Serial.print(az);

Serial.print("\t");

Serial.print(gx);

Serial.print("\t");

Serial.print(gy);

Serial.print("\t");

Serial.println(gz);

// blink LED to indicate activity

blinkState = !blinkState;

digitalWrite(LED_PIN, blinkState);

}

 This is the code with algorithm.

#include "Wire.h"

#include "I2Cdev.h"

#include "MPU6050.h"MPU6050 accelgyro;

int16_t ax, ay, az;

int16_t gx, gy, gz;