Meadow.Foundation.Sensors.Motion.Mpu6050

Mpu6050
Status
Source code	GitHub
Datasheet(s)	GitHub
NuGet package

Code Example

Mpu6050 sensor;

public override Task Initialize()
{
    Resolver.Log.Info("Initialize...");

    sensor = new Mpu6050(Device.CreateI2cBus());

    // classical .NET events can also be used:
    sensor.Updated += (sender, result) =>
    {
        Resolver.Log.Info($"Accel: [X:{result.New.Acceleration3D?.X.MetersPerSecondSquared:N2}," +
            $"Y:{result.New.Acceleration3D?.Y.MetersPerSecondSquared:N2}," +
            $"Z:{result.New.Acceleration3D?.Z.MetersPerSecondSquared:N2} (m/s^2)]");

        Resolver.Log.Info($"Angular Velocity: [X:{result.New.AngularVelocity3D?.X.DegreesPerSecond:N2}," +
            $"Y:{result.New.AngularVelocity3D?.Y.DegreesPerSecond:N2}," +
            $"Z:{result.New.AngularVelocity3D?.Z.DegreesPerSecond:N2} (dps)]");

        Resolver.Log.Info($"Temp: {result.New.Temperature?.Celsius:N2}C");
    };

    // Example that uses an IObservable subscription to only be notified when the filter is satisfied
    var consumer = Mpu6050.CreateObserver(
        handler: result => Resolver.Log.Info($"Observer: [x] changed by threshold; new [x]: X:{result.New.Acceleration3D?.X:N2}, old: X:{result.Old?.Acceleration3D?.X:N2}"),
        // only notify if there's a greater than 1G change in the Z direction
        filter: result =>
        {
            if (result.Old is { } old)
            {
                return ((result.New.Acceleration3D.Value - old.Acceleration3D.Value).Z > new Acceleration(1, AU.Gravity));
            }
            return false;
        });
    sensor.Subscribe(consumer);

    return Task.CompletedTask;
}

public async override Task Run()
{
    //==== one-off read
    var result = await sensor.Read();

    Resolver.Log.Info($"Accel: [X:{result.Acceleration3D?.X.MetersPerSecondSquared:N2}," +
        $"Y:{result.Acceleration3D?.Y.MetersPerSecondSquared:N2}," +
        $"Z:{result.Acceleration3D?.Z.MetersPerSecondSquared:N2} (m/s^2)]");

    Resolver.Log.Info($"Angular Accel: [X:{result.AngularVelocity3D?.X.DegreesPerSecond:N2}," +
        $"Y:{result.AngularVelocity3D?.Y.DegreesPerSecond:N2}," +
        $"Z:{result.AngularVelocity3D?.Z.DegreesPerSecond:N2} (dps)]");

    Resolver.Log.Info($"Temp: {result.Temperature?.Celsius:N2}C");

    sensor.StartUpdating(TimeSpan.FromMilliseconds(500));
}

Sample project(s) available on GitHub