Raspberry Pi MPU-6000 6-Axis Motion Tracking Sensor Java Tutorial

MPU-6000 is a 6-Axis Motion Tracking Sensor which has 3-Axis accelerometer and 3-Axis gyroscope embedded in it. This sensor is capable of efficient tracking of exact position and location of an object in the 3-dimensional plane. It can be employed in the systems which require position analysis to the highest precision. Here is the demonstration with a java code using Raspberry Pi.

1. Raspberry Pi

2. MPU-6000

3. I²C Cable

4. I²C Shield for Raspberry Pi

5. Ethernet Cable

Take a I2C shield for raspberry pi and gently push it over the gpio pins of raspberry pi.

Then connect the one end of I2C cable to MPU-6000 sensor and the other end to the I2C shield.

Also connect the Ethernet cable to the pi or you can use a WiFi module.

Connections are shown in the picture above.

The java code for MPU-6000 can be downloaded from our GitHub repository- Dcube Store.

Here is the link for the same :

https://github.com/DcubeTechVentures/MPU-6000

We have used pi4j library for java code, the steps to install pi4j on the raspberry pi is described here:

http://pi4j.com/install.html

You can also copy the code from here, it is given as follows:

// Distributed with a free-will license.

// Use it any way you want, profit or free, provided it fits in the licenses of its associated works.

// MPU-6000

// This code is designed to work with the MPU-6000_I2CS I2C Mini Module available in Dcube Store.

import com.pi4j.io.i2c.I2CBus;

import com.pi4j.io.i2c.I2CDevice;

import com.pi4j.io.i2c.I2CFactory;

import java.io.IOException;

public class MPU_6000

{

public static void main(String args[]) throws Exception

{

// Create I2C bus

I2CBus Bus = I2CFactory.getInstance(I2CBus.BUS_1);

// Get I2C device, MPU_6000 I2C address is 0x68(104)

I2CDevice device = Bus.getDevice(0x68);

// Select gyroscope configuration register

device.write(0x1B, (byte)0x18);

// Select accelerometer configuration register

device.write(0x1C, (byte)0x18);

// Select power management register1

device.write(0x6B, (byte)0x01);

Thread.sleep(500);

// Read 6 bytes of data

// xAccl msb, xAccl lsb, yAccl msb, yAccl lsb, zAccl msb, zAccl lsb

byte[] data = new byte[6];

device.read(0x3B, data, 0, 6);

// Convert the data

int xAccl = ((data[0] & 0xFF) * 256 + (data[1] & 0xFF));

if(xAccl > 32767)

{

xAccl -= 65536;

}

int yAccl = ((data[2] & 0xFF) * 256 + (data[3] & 0xFF));

if(yAccl > 32767)

{

yAccl -= 65536;

}

int zAccl = ((data[4] & 0xFF) * 256 + (data[5] & 0xFF));

if(zAccl > 32767)

{

zAccl -= 65536;

}

// Read 6 bytes of data

// xGyro msb, xGyro lsb, yGyro msb, yGyro lsb, zGyro msb, zGyro lsb

device.read(0x43, data, 0, 6);

// Convert the data

int xGyro = ((data[0] & 0xFF) * 256 + (data[1] & 0xFF));

if(xGyro > 32767)

{

xGyro -= 65536;

}

int yGyro = ((data[2] & 0xFF) * 256 + (data[3] & 0xFF));

if(yGyro > 32767)

{

yGyro -= 65536;

}

int zGyro = ((data[4] & 0xFF) * 256 + (data[5] & 0xFF));

if(zGyro > 32767)

{

zGyro -= 65536;

}

// Output data to screen

System.out.printf("Acceleration in X-axis : %d %n", xAccl);

System.out.printf("Acceleration in Y-axis : %d %n", yAccl);

System.out.printf("Acceleration in Z-axis : %d %n", zAccl);

System.out.printf("X-Axis of Rotation : %d %n", zGyro);

System.out.printf("Y-Axis of Rotation : %d %n", yGyro);

System.out.printf("Z-Axis of Rotation : %d %n", zGyro);

}

}

MPU-6000 is a motion tracking sensor, which finds its application in the motion interface of smartphones and tablets. In smartphones these sensors can be employed in the applications such as gesture commands for applications and phone control, enhanced gaming, augmented reality, panoramic photo capture and viewing, and pedestrian and vehicle navigation. MotionTracking technology can convert handsets and tablets into powerful 3D intelligent devices that can be used in applications ranging from health and fitness monitoring to location-based services.