Raspberry Pi and MPU6050 python example

In a previous post we showed an example of the MPU6050 sensor and a Raspberry Pi using wiringPi and C++. This time its a python code example

Raspberry Pi and MPU-6050 C example

Code

import smbus
import math
import time
 
# Power management registers
power_mgmt_1 = 0x6b
power_mgmt_2 = 0x6c
 
def read_byte(adr):
	return bus.read_byte_data(address, adr)
 
def read_word(adr):
	high = bus.read_byte_data(address, adr)
	low = bus.read_byte_data(address, adr+1)
	val = (high << 8) + low
	return val
 
def read_word_2c(adr):
	val = read_word(adr)
	if (val >= 0x8000):
		return -((65535 - val) + 1)
	else:
		return val
 
def dist(a,b):
	return math.sqrt((a*a)+(b*b))
 
def get_y_rotation(x,y,z):
	radians = math.atan2(x, dist(y,z))
	return -math.degrees(radians)
 
def get_x_rotation(x,y,z):
	radians = math.atan2(y, dist(x,z))
	return math.degrees(radians)
 
 
bus = smbus.SMBus(1) # or bus = smbus.SMBus(1) for Revision 2 boards
address = 0x68 # This is the address value read via the i2cdetect command
 
# Now wake the 6050 up as it starts in sleep mode
bus.write_byte_data(address, power_mgmt_1, 0)
 
while True:
	time.sleep(0.1)
	gyro_xout = read_word_2c(0x43)
	gyro_yout = read_word_2c(0x45)
	gyro_zout = read_word_2c(0x47)
 
	print "gyro_xout : ", gyro_xout, " scaled: ", (gyro_xout / 131)
	print "gyro_yout : ", gyro_yout, " scaled: ", (gyro_yout / 131)
	print "gyro_zout : ", gyro_zout, " scaled: ", (gyro_zout / 131)
 
	accel_xout = read_word_2c(0x3b)
	accel_yout = read_word_2c(0x3d)
	accel_zout = read_word_2c(0x3f)
 
	accel_xout_scaled = accel_xout / 16384.0
	accel_yout_scaled = accel_yout / 16384.0
	accel_zout_scaled = accel_zout / 16384.0
 
	print "accel_xout: ", accel_xout, " scaled: ", accel_xout_scaled
	print "accel_yout: ", accel_yout, " scaled: ", accel_yout_scaled
	print "accel_zout: ", accel_zout, " scaled: ", accel_zout_scaled
 
	print "x rotation: " , get_x_rotation(accel_xout_scaled, accel_yout_scaled, accel_zout_scaled)
	print "y rotation: " , get_y_rotation(accel_xout_scaled, accel_yout_scaled, accel_zout_scaled)
 
	time.sleep(0.5)
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