37款传感器与执行器的提法，在网络上广泛流传，其实Arduino能够兼容的传感器模块肯定是不止这37种的。鉴于本人手头积累了一些传感器和执行器模块，依照实践出真知（一定要动手做）的理念，以学习和交流为目的，这里准备逐一动手尝试系列实验，不管成功（程序走通）与否，都会记录下来—小小的进步或是搞不掂的问题，希望能够抛砖引玉。

【Arduino】168种传感器模块系列实验（资料代码+仿真编程+图形编程）

实验一百零八：MPU-6050模块 三轴加速度 电子陀螺仪6DOF GY-521传感器(三轴陀螺仪 + 三轴加速度)

模块电原理图

实验接线示意图

【Arduino】168种传感器模块系列实验（资料代码+仿真编程+图形编程）
实验一百零八：MPU-6050模块 三轴加速度 电子陀螺仪6DOF GY-521传感器(三轴陀螺仪 + 三轴加速度)
项目之一：测试MPU6050示例
实验接线：
Arduino------MPU 6050
5V-------------VCC
GND-----------GND
A4-----------SDA IIC 数据线
A5-----------SCL IIC 时钟线
D2-----------INT 中断脚

/*

【Arduino】168种传感器模块系列实验（资料代码+仿真编程+图形编程）

实验一百零八：MPU-6050模块 三轴加速度 电子陀螺仪6DOF GY-521传感器(三轴陀螺仪 + 三轴加速度)

项目之一：测试MPU6050示例

实验接线：

Arduino------MPU 6050

5V-------------VCC

GND-----------GND

A4-----------SDA IIC 数据线

A5-----------SCL IIC 时钟线

D2-----------INT 中断脚

*/



#include "I2Cdev.h"

#include "MPU6050_6Axis_MotionApps20.h"

//#include "MPU6050.h" 

#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE

  #include "Wire.h"

  #endif

MPU6050 mpu;

#define OUTPUT_READABLE_YAWPITCHROLL

#define LED_PIN 13 

bool blinkState = false;

// MPU control/status vars

bool dmpReady = false;  

uint8_t mpuIntStatus;  

uint8_t devStatus;    

uint16_t packetSize;   

uint16_t fifoCount;   

uint8_t fifoBuffer[64]; 

Quaternion q;      

VectorInt16 aa;     

VectorInt16 aaReal;   

VectorInt16 aaWorld;   

VectorFloat gravity;  

float euler[3];     

float ypr[3];      

uint8_t teapotPacket[14] = { '

, 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };

volatile bool mpuInterrupt = false;   

void dmpDataReady() {

  mpuInterrupt = true;

}

void setup() {

  #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE

    Wire.begin();

    TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz)

  #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE

    Fastwire::setup(400, true);

  #endif

  Serial.begin(115200);

  while (!Serial); 

  Serial.println(F("Initializing I2C devices..."));

  mpu.initialize();

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

  Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));

  Serial.println(F("\nSend any character to begin DMP programming and demo: "));

  while (Serial.available() && Serial.read()); 

  while (!Serial.available());         

  while (Serial.available() && Serial.read()); 

  Serial.println(F("Initializing DMP..."));

  devStatus = mpu.dmpInitialize();

  mpu.setXGyroOffset(220);

  mpu.setYGyroOffset(76);

  mpu.setZGyroOffset(-85);

  mpu.setZAccelOffset(1788); 

  if (devStatus == 0) {

  

    Serial.println(F("Enabling DMP..."));

    mpu.setDMPEnabled(true);

    Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));

    attachInterrupt(0, dmpDataReady, RISING);

    mpuIntStatus = mpu.getIntStatus();

    Serial.println(F("DMP ready! Waiting for first interrupt..."));

    dmpReady = true;

    packetSize = mpu.dmpGetFIFOPacketSize();

  } 

  else {

     

    Serial.print(F("DMP Initialization failed (code "));

    Serial.print(devStatus);

    Serial.println(F(")"));

  }

  // configure LED for output

  pinMode(LED_PIN, OUTPUT);

}

void loop() {

  if (!dmpReady) return;

  while (!mpuInterrupt && fifoCount < packetSize) {

  }

  mpuInterrupt = false;

  mpuIntStatus = mpu.getIntStatus();

  fifoCount = mpu.getFIFOCount();

  if ((mpuIntStatus & 0x10) || fifoCount == 1024) {

     

    mpu.resetFIFO();

    Serial.println(F("FIFO overflow!"));

  } else if (mpuIntStatus & 0x02) {

    while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();

    mpu.getFIFOBytes(fifoBuffer, packetSize);

     

    fifoCount -= packetSize;

    #ifdef OUTPUT_READABLE_QUATERNION

      

      mpu.dmpGetQuaternion(&q, fifoBuffer);

      Serial.print("quat\t");

      Serial.print(q.w);

      Serial.print("\t");

      Serial.print(q.x);

      Serial.print("\t");

      Serial.print(q.y);

      Serial.print("\t");

      Serial.println(q.z);

    #endif

    #ifdef OUTPUT_READABLE_EULER

      

      mpu.dmpGetQuaternion(&q, fifoBuffer);

      mpu.dmpGetEuler(euler, &q);

      Serial.print("euler\t");

      Serial.print(euler[0] * 180/M_PI);

      Serial.print("\t");

      Serial.print(euler[1] * 180/M_PI);

      Serial.print("\t");

      Serial.println(euler[2] * 180/M_PI);

    #endif

    #ifdef OUTPUT_READABLE_YAWPITCHROLL

     

      mpu.dmpGetQuaternion(&q, fifoBuffer);

      mpu.dmpGetGravity(&gravity, &q);

      mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);

      Serial.print("ypr\t");

      Serial.print(ypr[0] * 180/M_PI);

      Serial.print("\t");

      Serial.print(ypr[1] * 180/M_PI);

      Serial.print("\t");

      Serial.println(ypr[2] * 180/M_PI);

    #endif

    #ifdef OUTPUT_READABLE_REALACCEL

       

      mpu.dmpGetQuaternion(&q, fifoBuffer);

      mpu.dmpGetAccel(&aa, fifoBuffer);

      mpu.dmpGetGravity(&gravity, &q);

      mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);

      Serial.print("areal\t");

      Serial.print(aaReal.x);

      Serial.print("\t");

      Serial.print(aaReal.y);

      Serial.print("\t");

      Serial.println(aaReal.z);

    #endif

    #ifdef OUTPUT_READABLE_WORLDACCEL

      

      mpu.dmpGetQuaternion(&q, fifoBuffer);

      mpu.dmpGetAccel(&aa, fifoBuffer);

      mpu.dmpGetGravity(&gravity, &q);

      mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);

      mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);

      Serial.print("aworld\t");

      Serial.print(aaWorld.x);

      Serial.print("\t");

      Serial.print(aaWorld.y);

      Serial.print("\t");

      Serial.println(aaWorld.z);

    #endif

   

    #ifdef OUTPUT_TEAPOT

       

      teapotPacket[2] = fifoBuffer[0];

      teapotPacket[3] = fifoBuffer[1];

      teapotPacket[4] = fifoBuffer[4];

      teapotPacket[5] = fifoBuffer[5];

      teapotPacket[6] = fifoBuffer[8];

      teapotPacket[7] = fifoBuffer[9];

      teapotPacket[8] = fifoBuffer[12];

      teapotPacket[9] = fifoBuffer[13];

      Serial.write(teapotPacket, 14);

      teapotPacket[11]++; 

    #endif

    blinkState = !blinkState;

    digitalWrite(LED_PIN, blinkState);

    delay(1000);

  }

}

实验串口返回情况

串口提示的翻译（未接D2时）
正在初始化I2C设备…
正在测试设备连接…
MPU6050连接成功

发送任意字符开始DMP编程和演示：
正在初始化DMP…
正在启用DMP…
启用中断检测（Arduino外部中断0…）
DMP准备好了！正在等待第一个中断…

实验开源仿真编程（Linkboy V4.63）

实验串口返回情况

橙色、紫色和黑色线为X\Y\Z轴的加速度值，非常敏感，轻轻动下就会大幅变动，数值在-32000到32000之间

实验场景图