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	- Project: "MPU6050 Initialization"
	- Source Code compiled for: Arduino Nano ESP32
	- Source Code created on: 2024-06-23 08:08:42

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/****** SYSTEM REQUIREMENTS *****/
/****** SYSTEM REQUIREMENT 1 *****/
	/* read gyroscope at maximum rate and show on serial. */
/****** END SYSTEM REQUIREMENTS *****/


/****** DEFINITION OF LIBRARIES *****/
#include 
#include   //https://github.com/electroniccats/mpu6050

/****** FUNCTION PROTOTYPES *****/
void setup(void);
void loop(void);

/***** DEFINITION OF DIGITAL INPUT PINS *****/
const uint8_t sensor_MPU6050_Interrupt_PIN_D2 = 2;

/***** DEFINITION OF I2C PINS *****/
const uint8_t sensor_MPU6050_I2C_PIN_SDA_A4 = A4;
const uint8_t sensor_MPU6050_I2C_PIN_SCL_A5 = A5;
const uint8_t sensor_MPU6050_I2C_SLAVE_ADDRESS = 104;

/****** DEFINITION OF LIBRARIES CLASS INSTANCES*****/
MPU6050 accelgyro(sensor_MPU6050_I2C_SLAVE_ADDRESS); // Initialize MPU6050 with the specified I2C address

void setup(void) {
    // put your setup code here, to run once:
    Wire.begin(sensor_MPU6050_I2C_PIN_SDA_A4, sensor_MPU6050_I2C_PIN_SCL_A5); // Initialize I2C communication
    Serial.begin(38400); // Initialize serial communication
    Serial.println("Initializing I2C devices...");

    accelgyro.initialize(); // Initialize MPU6050
    Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");

    pinMode(sensor_MPU6050_Interrupt_PIN_D2, INPUT); // Set interrupt pin as input
}

void loop(void) {
    // put your main code here, to run repeatedly:
    int16_t ax, ay, az;
    int16_t gx, gy, gz;

    // Read accelerometer and gyroscope data
    accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);

    // Print the data to the Serial Monitor
    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);

    // Removed delay to read gyroscope at maximum rate
}

/* END CODE */