MPU6050 6-Axis Accelerometer & Gyroscope

3-axis accelerometer, 3-axis gyroscope and temperature sensor with I2C interface

Integrated sensor with 3-axis accelerometer, 3-axis gyroscope and a temperature sensor with I2C interface.

Pin names

VCC · Power

Voltage supply

GND · Ground

Ground

SCL · I2C

I2C clock line

SDA · I2C

I2C data line

XDA · Not Implemented

Unused - not currently implemented in the simulator

XCL · Not Implemented

Unused - not currently implemented in the simulator

AD0 · Digital Input

Address select pin

INT · Digital Output

Interrupt

The XDA and XCL pins are not currently implemented in the simulator. If you need them, please open a request, and describe your use case.

You normally only need to connect the VCC, GND, SCL, and SDA pins. The I2C address of the device is 0x68. You can change the address of 0x69 by connecting the AD0 pin to VCC.

Attributes

accelX · string · default: "0"

Initial x acceleration value (g)

accelY · string · default: "0"

Initial y acceleration value (g)

accelZ · string · default: "1"

Initial z acceleration value (g)

rotationX · string · default: "0"

Initial x rotation value (deg/sec)

rotationY · string · default: "0"

Initial y rotation value (deg/sec)

rotationZ · string · default: "0"

Initial z rotation value (deg/sec)

temperature · string · default: "24"

Initial temperature value (celsius)

Units

All the acceleration values (x/y/z) use g-force units, where 1g = 9.80665 m/s². The gyroscope measures angular rotation and returns the number of degrees per second.

Arduino code example

The example below uses the Adafruit MPU6050 library to read and display the acceleration values from the sensor. On Arduino Uno, connect the SDA pin to A4, and the SCL pin to A5.

#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>
#include <Wire.h>

Adafruit_MPU6050 mpu;

void setup(void) {
  Serial.begin(115200);

  while (!mpu.begin()) {
    Serial.println("MPU6050 not connected!");
    delay(1000);
  }
  Serial.println("MPU6050 ready!");
}

sensors_event_t event;

void loop() {
  mpu.getAccelerometerSensor()->getEvent(&event);

  Serial.print("[");
  Serial.print(millis());
  Serial.print("] X: ");
  Serial.print(event.acceleration.x);
  Serial.print(", Y: ");
  Serial.print(event.acceleration.y);
  Serial.print(", Z: ");
  Serial.print(event.acceleration.z);
  Serial.println(" m/s^2");
  delay(500);
}

Run this example on Wokwi

Automation controls

The mpu6050 sensor can be controlled using Automation Scenarios. The names of the controls match the names of the attributes defined above:

accelX · float

Set the x acceleration value (g)

accelY · float

Set the y acceleration value (g)

accelZ · float

Set the z acceleration value (g)

rotationX · float

Set the x rotation value (deg/sec)

rotationY · float

Set the y rotation value (deg/sec)

rotationZ · float

Set the z rotation value (deg/sec)

temperature · float

Set the temperature value (celsius)

The following example set the temperature to 25°C:

- set-control:
    part-id: imu1
    control: temperature
    value: 25

Simulator examples

• MPU6050 X/Y/Z acceleration plotter
• Adafruit MPU6050 Demo
• 3D gyro/acceleration visualization on an OLED display
• 3D Wokwi “W” controlled by Gyroscope rotation
• ESP32 with many MPU6050 sensors