From 6810d1fe356efc92ea7cdfc3182462ce5ca276ac Mon Sep 17 00:00:00 2001
From: Jeremy Belpois <j3r3xy@gmail.com>
Date: Thu, 14 Dec 2017 20:55:18 +0100
Subject: [PATCH 1/7] Moved examples

---
 .../MPU6050_accel_pitch_roll.ino              |  47 ------
 MPU6050_accel_simple/MPU6050_accel_simple.ino |  94 -----------
 MPU6050_free_fall/MPU6050_free_fall.ino       | 143 ----------------
 .../MPU6050_gyro_pitch_roll_yaw.ino           |  65 --------
 MPU6050_gyro_simple/MPU6050_gyro_simple.ino   | 103 ------------
 MPU6050_motion/MPU6050_motion.ino             | 156 ------------------
 MPU6050_temperature/MPU6050_temperature.ino   |  38 -----
 7 files changed, 646 deletions(-)
 delete mode 100644 MPU6050_accel_pitch_roll/MPU6050_accel_pitch_roll.ino
 delete mode 100644 MPU6050_accel_simple/MPU6050_accel_simple.ino
 delete mode 100644 MPU6050_free_fall/MPU6050_free_fall.ino
 delete mode 100644 MPU6050_gyro_pitch_roll_yaw/MPU6050_gyro_pitch_roll_yaw.ino
 delete mode 100644 MPU6050_gyro_simple/MPU6050_gyro_simple.ino
 delete mode 100644 MPU6050_motion/MPU6050_motion.ino
 delete mode 100644 MPU6050_temperature/MPU6050_temperature.ino

diff --git a/MPU6050_accel_pitch_roll/MPU6050_accel_pitch_roll.ino b/MPU6050_accel_pitch_roll/MPU6050_accel_pitch_roll.ino
deleted file mode 100644
index c1b0e2f..0000000
--- a/MPU6050_accel_pitch_roll/MPU6050_accel_pitch_roll.ino
+++ /dev/null
@@ -1,47 +0,0 @@
-/*
-    MPU6050 Triple Axis Gyroscope & Accelerometer. Pitch & Roll Accelerometer Example.
-    Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-zyroskop-i-akcelerometr-mpu6050.html
-    GIT: https://github.com/jarzebski/Arduino-MPU6050
-    Web: http://www.jarzebski.pl
-    (c) 2014 by Korneliusz Jarzebski
-*/
-
-#include <Wire.h>
-#include <MPU6050.h>
-
-MPU6050 mpu;
-
-void setup() 
-{
-  Serial.begin(115200);
-
-  Serial.println("Initialize MPU6050");
-
-  while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G))
-  {
-    Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
-    delay(500);
-  }
-}
-
-void loop()
-{
-  // Read normalized values 
-  Vector normAccel = mpu.readNormalizeAccel();
-
-  // Calculate Pitch & Roll
-  int pitch = -(atan2(normAccel.XAxis, sqrt(normAccel.YAxis*normAccel.YAxis + normAccel.ZAxis*normAccel.ZAxis))*180.0)/M_PI;
-  int roll = (atan2(normAccel.YAxis, normAccel.ZAxis)*180.0)/M_PI;
-
-  // Output
-  Serial.print(" Pitch = ");
-  Serial.print(pitch);
-  Serial.print(" Roll = ");
-  Serial.print(roll);
-  
-  Serial.println();
-  
-  delay(10);
-}
-
-
diff --git a/MPU6050_accel_simple/MPU6050_accel_simple.ino b/MPU6050_accel_simple/MPU6050_accel_simple.ino
deleted file mode 100644
index d327167..0000000
--- a/MPU6050_accel_simple/MPU6050_accel_simple.ino
+++ /dev/null
@@ -1,94 +0,0 @@
-/*
-    MPU6050 Triple Axis Gyroscope & Accelerometer. Simple Accelerometer Example.
-    Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-zyroskop-i-akcelerometr-mpu6050.html
-    GIT: https://github.com/jarzebski/Arduino-MPU6050
-    Web: http://www.jarzebski.pl
-    (c) 2014 by Korneliusz Jarzebski
-*/
-
-#include <Wire.h>
-#include <MPU6050.h>
-
-MPU6050 mpu;
-
-void setup() 
-{
-  Serial.begin(115200);
-
-  Serial.println("Initialize MPU6050");
-
-  while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G))
-  {
-    Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
-    delay(500);
-  }
-
-  // If you want, you can set accelerometer offsets
-  // mpu.setAccelOffsetX();
-  // mpu.setAccelOffsetY();
-  // mpu.setAccelOffsetZ();
-  
-  checkSettings();
-}
-
-void checkSettings()
-{
-  Serial.println();
-  
-  Serial.print(" * Sleep Mode:            ");
-  Serial.println(mpu.getSleepEnabled() ? "Enabled" : "Disabled");
-  
-  Serial.print(" * Clock Source:          ");
-  switch(mpu.getClockSource())
-  {
-    case MPU6050_CLOCK_KEEP_RESET:     Serial.println("Stops the clock and keeps the timing generator in reset"); break;
-    case MPU6050_CLOCK_EXTERNAL_19MHZ: Serial.println("PLL with external 19.2MHz reference"); break;
-    case MPU6050_CLOCK_EXTERNAL_32KHZ: Serial.println("PLL with external 32.768kHz reference"); break;
-    case MPU6050_CLOCK_PLL_ZGYRO:      Serial.println("PLL with Z axis gyroscope reference"); break;
-    case MPU6050_CLOCK_PLL_YGYRO:      Serial.println("PLL with Y axis gyroscope reference"); break;
-    case MPU6050_CLOCK_PLL_XGYRO:      Serial.println("PLL with X axis gyroscope reference"); break;
-    case MPU6050_CLOCK_INTERNAL_8MHZ:  Serial.println("Internal 8MHz oscillator"); break;
-  }
-  
-  Serial.print(" * Accelerometer:         ");
-  switch(mpu.getRange())
-  {
-    case MPU6050_RANGE_16G:            Serial.println("+/- 16 g"); break;
-    case MPU6050_RANGE_8G:             Serial.println("+/- 8 g"); break;
-    case MPU6050_RANGE_4G:             Serial.println("+/- 4 g"); break;
-    case MPU6050_RANGE_2G:             Serial.println("+/- 2 g"); break;
-  }  
-
-  Serial.print(" * Accelerometer offsets: ");
-  Serial.print(mpu.getAccelOffsetX());
-  Serial.print(" / ");
-  Serial.print(mpu.getAccelOffsetY());
-  Serial.print(" / ");
-  Serial.println(mpu.getAccelOffsetZ());
-  
-  Serial.println();
-}
-
-void loop()
-{
-  Vector rawAccel = mpu.readRawAccel();
-  Vector normAccel = mpu.readNormalizeAccel();
-
-  Serial.print(" Xraw = ");
-  Serial.print(rawAccel.XAxis);
-  Serial.print(" Yraw = ");
-  Serial.print(rawAccel.YAxis);
-  Serial.print(" Zraw = ");
-
-  Serial.println(rawAccel.ZAxis);
-  Serial.print(" Xnorm = ");
-  Serial.print(normAccel.XAxis);
-  Serial.print(" Ynorm = ");
-  Serial.print(normAccel.YAxis);
-  Serial.print(" Znorm = ");
-  Serial.println(normAccel.ZAxis);
-  
-  delay(10);
-}
-
-
diff --git a/MPU6050_free_fall/MPU6050_free_fall.ino b/MPU6050_free_fall/MPU6050_free_fall.ino
deleted file mode 100644
index d2d9269..0000000
--- a/MPU6050_free_fall/MPU6050_free_fall.ino
+++ /dev/null
@@ -1,143 +0,0 @@
-/*
-    MPU6050 Triple Axis Gyroscope & Accelerometer. Free fall detection.
-    Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-zyroskop-i-akcelerometr-mpu6050.html
-    GIT: https://github.com/jarzebski/Arduino-MPU6050
-    Web: http://www.jarzebski.pl
-    (c) 2014 by Korneliusz Jarzebski
-*/
-
-#include <Wire.h>
-#include <MPU6050.h>
-
-MPU6050 mpu;
-
-boolean ledState = false;
-boolean freefallDetected = false;
-int freefallBlinkCount = 0;
-
-void setup() 
-{
-  Serial.begin(115200);
-
-  Serial.println("Initialize MPU6050");
-
-  while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_16G))
-  {
-    Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
-    delay(500);
-  }
-
-  mpu.setAccelPowerOnDelay(MPU6050_DELAY_3MS);
-  
-  mpu.setIntFreeFallEnabled(true);
-  mpu.setIntZeroMotionEnabled(false);
-  mpu.setIntMotionEnabled(false);
-  
-  mpu.setDHPFMode(MPU6050_DHPF_5HZ);
-
-  mpu.setFreeFallDetectionThreshold(17);
-  mpu.setFreeFallDetectionDuration(2);	
-  
-  checkSettings();
-
-  pinMode(4, OUTPUT);
-  digitalWrite(4, LOW);
-  
-  attachInterrupt(0, doInt, RISING);
-}
-
-void doInt()
-{
-  freefallBlinkCount = 0;
-  freefallDetected = true;  
-}
-
-void checkSettings()
-{
-  Serial.println();
-  
-  Serial.print(" * Sleep Mode:                ");
-  Serial.println(mpu.getSleepEnabled() ? "Enabled" : "Disabled");
-
-  Serial.print(" * Motion Interrupt:     ");
-  Serial.println(mpu.getIntMotionEnabled() ? "Enabled" : "Disabled");
-
-  Serial.print(" * Zero Motion Interrupt:     ");
-  Serial.println(mpu.getIntZeroMotionEnabled() ? "Enabled" : "Disabled");
-
-  Serial.print(" * Free Fall Interrupt:       ");
-  Serial.println(mpu.getIntFreeFallEnabled() ? "Enabled" : "Disabled");
-
-  Serial.print(" * Free Fal Threshold:          ");
-  Serial.println(mpu.getFreeFallDetectionThreshold());
-
-  Serial.print(" * Free FallDuration:           ");
-  Serial.println(mpu.getFreeFallDetectionDuration());
-  
-  Serial.print(" * Clock Source:              ");
-  switch(mpu.getClockSource())
-  {
-    case MPU6050_CLOCK_KEEP_RESET:     Serial.println("Stops the clock and keeps the timing generator in reset"); break;
-    case MPU6050_CLOCK_EXTERNAL_19MHZ: Serial.println("PLL with external 19.2MHz reference"); break;
-    case MPU6050_CLOCK_EXTERNAL_32KHZ: Serial.println("PLL with external 32.768kHz reference"); break;
-    case MPU6050_CLOCK_PLL_ZGYRO:      Serial.println("PLL with Z axis gyroscope reference"); break;
-    case MPU6050_CLOCK_PLL_YGYRO:      Serial.println("PLL with Y axis gyroscope reference"); break;
-    case MPU6050_CLOCK_PLL_XGYRO:      Serial.println("PLL with X axis gyroscope reference"); break;
-    case MPU6050_CLOCK_INTERNAL_8MHZ:  Serial.println("Internal 8MHz oscillator"); break;
-  }
-  
-  Serial.print(" * Accelerometer:             ");
-  switch(mpu.getRange())
-  {
-    case MPU6050_RANGE_16G:            Serial.println("+/- 16 g"); break;
-    case MPU6050_RANGE_8G:             Serial.println("+/- 8 g"); break;
-    case MPU6050_RANGE_4G:             Serial.println("+/- 4 g"); break;
-    case MPU6050_RANGE_2G:             Serial.println("+/- 2 g"); break;
-  }  
-
-  Serial.print(" * Accelerometer offsets:     ");
-  Serial.print(mpu.getAccelOffsetX());
-  Serial.print(" / ");
-  Serial.print(mpu.getAccelOffsetY());
-  Serial.print(" / ");
-  Serial.println(mpu.getAccelOffsetZ());
-
-  Serial.print(" * Accelerometer power delay: ");
-  switch(mpu.getAccelPowerOnDelay())
-  {
-    case MPU6050_DELAY_3MS:            Serial.println("3ms"); break;
-    case MPU6050_DELAY_2MS:            Serial.println("2ms"); break;
-    case MPU6050_DELAY_1MS:            Serial.println("1ms"); break;
-    case MPU6050_NO_DELAY:             Serial.println("0ms"); break;
-  }  
-  
-  Serial.println();
-}
-
-void loop()
-{
-  Vector rawAccel = mpu.readRawAccel();
-  Activites act = mpu.readActivites();
-
-  Serial.print(act.isFreeFall);
-  Serial.print("\n");
-  
-  if (freefallDetected)
-  {
-    ledState = !ledState;
-
-    digitalWrite(4, ledState);
-
-    freefallBlinkCount++;
-
-    if (freefallBlinkCount == 20)
-    {
-      freefallDetected = false;
-      ledState = false;
-      digitalWrite(4, ledState);
-    }
-  }
-  
-  delay(100);
-  
-}
diff --git a/MPU6050_gyro_pitch_roll_yaw/MPU6050_gyro_pitch_roll_yaw.ino b/MPU6050_gyro_pitch_roll_yaw/MPU6050_gyro_pitch_roll_yaw.ino
deleted file mode 100644
index c854158..0000000
--- a/MPU6050_gyro_pitch_roll_yaw/MPU6050_gyro_pitch_roll_yaw.ino
+++ /dev/null
@@ -1,65 +0,0 @@
-/*
-    MPU6050 Triple Axis Gyroscope & Accelerometer. Pitch & Roll & Yaw Gyroscope Example.
-    Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-zyroskop-i-akcelerometr-mpu6050.html
-    GIT: https://github.com/jarzebski/Arduino-MPU6050
-    Web: http://www.jarzebski.pl
-    (c) 2014 by Korneliusz Jarzebski
-*/
-
-#include <Wire.h>
-#include <MPU6050.h>
-
-MPU6050 mpu;
-
-// Timers
-unsigned long timer = 0;
-float timeStep = 0.01;
-
-// Pitch, Roll and Yaw values
-float pitch = 0;
-float roll = 0;
-float yaw = 0;
-
-void setup() 
-{
-  Serial.begin(115200);
-
-  // Initialize MPU6050
-  while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G))
-  {
-    Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
-    delay(500);
-  }
-  
-  // Calibrate gyroscope. The calibration must be at rest.
-  // If you don't want calibrate, comment this line.
-  mpu.calibrateGyro();
-
-  // Set threshold sensivty. Default 3.
-  // If you don't want use threshold, comment this line or set 0.
-  mpu.setThreshold(3);
-}
-
-void loop()
-{
-  timer = millis();
-
-  // Read normalized values
-  Vector norm = mpu.readNormalizeGyro();
-
-  // Calculate Pitch, Roll and Yaw
-  pitch = pitch + norm.YAxis * timeStep;
-  roll = roll + norm.XAxis * timeStep;
-  yaw = yaw + norm.ZAxis * timeStep;
-
-  // Output raw
-  Serial.print(" Pitch = ");
-  Serial.print(pitch);
-  Serial.print(" Roll = ");
-  Serial.print(roll);  
-  Serial.print(" Yaw = ");
-  Serial.println(yaw);
-
-  // Wait to full timeStep period
-  delay((timeStep*1000) - (millis() - timer));
-}
diff --git a/MPU6050_gyro_simple/MPU6050_gyro_simple.ino b/MPU6050_gyro_simple/MPU6050_gyro_simple.ino
deleted file mode 100644
index b0ff8d6..0000000
--- a/MPU6050_gyro_simple/MPU6050_gyro_simple.ino
+++ /dev/null
@@ -1,103 +0,0 @@
-/*
-    MPU6050 Triple Axis Gyroscope & Accelerometer. Simple Gyroscope Example.
-    Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-zyroskop-i-akcelerometr-mpu6050.html
-    GIT: https://github.com/jarzebski/Arduino-MPU6050
-    Web: http://www.jarzebski.pl
-    (c) 2014 by Korneliusz Jarzebski
-*/
-
-#include <Wire.h>
-#include <MPU6050.h>
-
-MPU6050 mpu;
-
-void setup() 
-{
-  Serial.begin(115200);
-
-  // Initialize MPU6050
-  Serial.println("Initialize MPU6050");
-  while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G))
-  {
-    Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
-    delay(500);
-  }
-  
-  // If you want, you can set gyroscope offsets
-  // mpu.setGyroOffsetX(155);
-  // mpu.setGyroOffsetY(15);
-  // mpu.setGyroOffsetZ(15);
-  
-  // Calibrate gyroscope. The calibration must be at rest.
-  // If you don't want calibrate, comment this line.
-  mpu.calibrateGyro();
-
-  // Set threshold sensivty. Default 3.
-  // If you don't want use threshold, comment this line or set 0.
-  mpu.setThreshold(3);
-  
-  // Check settings
-  checkSettings();
-}
-
-void checkSettings()
-{
-  Serial.println();
-  
-  Serial.print(" * Sleep Mode:        ");
-  Serial.println(mpu.getSleepEnabled() ? "Enabled" : "Disabled");
-  
-  Serial.print(" * Clock Source:      ");
-  switch(mpu.getClockSource())
-  {
-    case MPU6050_CLOCK_KEEP_RESET:     Serial.println("Stops the clock and keeps the timing generator in reset"); break;
-    case MPU6050_CLOCK_EXTERNAL_19MHZ: Serial.println("PLL with external 19.2MHz reference"); break;
-    case MPU6050_CLOCK_EXTERNAL_32KHZ: Serial.println("PLL with external 32.768kHz reference"); break;
-    case MPU6050_CLOCK_PLL_ZGYRO:      Serial.println("PLL with Z axis gyroscope reference"); break;
-    case MPU6050_CLOCK_PLL_YGYRO:      Serial.println("PLL with Y axis gyroscope reference"); break;
-    case MPU6050_CLOCK_PLL_XGYRO:      Serial.println("PLL with X axis gyroscope reference"); break;
-    case MPU6050_CLOCK_INTERNAL_8MHZ:  Serial.println("Internal 8MHz oscillator"); break;
-  }
-  
-  Serial.print(" * Gyroscope:         ");
-  switch(mpu.getScale())
-  {
-    case MPU6050_SCALE_2000DPS:        Serial.println("2000 dps"); break;
-    case MPU6050_SCALE_1000DPS:        Serial.println("1000 dps"); break;
-    case MPU6050_SCALE_500DPS:         Serial.println("500 dps"); break;
-    case MPU6050_SCALE_250DPS:         Serial.println("250 dps"); break;
-  } 
-  
-  Serial.print(" * Gyroscope offsets: ");
-  Serial.print(mpu.getGyroOffsetX());
-  Serial.print(" / ");
-  Serial.print(mpu.getGyroOffsetY());
-  Serial.print(" / ");
-  Serial.println(mpu.getGyroOffsetZ());
-  
-  Serial.println();
-}
-
-void loop()
-{
-  Vector rawGyro = mpu.readRawGyro();
-  Vector normGyro = mpu.readNormalizeGyro();
-
-  Serial.print(" Xraw = ");
-  Serial.print(rawGyro.XAxis);
-  Serial.print(" Yraw = ");
-  Serial.print(rawGyro.YAxis);
-  Serial.print(" Zraw = ");
-  Serial.println(rawGyro.ZAxis);
-
-  Serial.print(" Xnorm = ");
-  Serial.print(normGyro.XAxis);
-  Serial.print(" Ynorm = ");
-  Serial.print(normGyro.YAxis);
-  Serial.print(" Znorm = ");
-  Serial.println(normGyro.ZAxis);
-  
-  delay(10);
-}
-
-
diff --git a/MPU6050_motion/MPU6050_motion.ino b/MPU6050_motion/MPU6050_motion.ino
deleted file mode 100644
index 27c7c29..0000000
--- a/MPU6050_motion/MPU6050_motion.ino
+++ /dev/null
@@ -1,156 +0,0 @@
-/*
-    MPU6050 Triple Axis Gyroscope & Accelerometer. Motion detection.
-    Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-zyroskop-i-akcelerometr-mpu6050.html
-    GIT: https://github.com/jarzebski/Arduino-MPU6050
-    Web: http://www.jarzebski.pl
-    (c) 2014 by Korneliusz Jarzebski
-*/
-
-#include <Wire.h>
-#include <MPU6050.h>
-
-MPU6050 mpu;
-
-void setup() 
-{
-  Serial.begin(115200);
-
-  Serial.println("Initialize MPU6050");
-
-  while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_16G))
-  {
-    Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
-    delay(500);
-  }
-
-  mpu.setAccelPowerOnDelay(MPU6050_DELAY_3MS);
-
-  mpu.setIntFreeFallEnabled(false);  
-  mpu.setIntZeroMotionEnabled(false);
-  mpu.setIntMotionEnabled(false);
-  
-  mpu.setDHPFMode(MPU6050_DHPF_5HZ);
-
-  mpu.setMotionDetectionThreshold(2);
-  mpu.setMotionDetectionDuration(5);
-
-  mpu.setZeroMotionDetectionThreshold(4);
-  mpu.setZeroMotionDetectionDuration(2);	
-  
-  checkSettings();
-
-  pinMode(4, OUTPUT);
-  digitalWrite(4, LOW);
-
-  pinMode(7, OUTPUT);
-  digitalWrite(7, LOW);  
-}
-
-void checkSettings()
-{
-  Serial.println();
-  
-  Serial.print(" * Sleep Mode:                ");
-  Serial.println(mpu.getSleepEnabled() ? "Enabled" : "Disabled");
-
-  Serial.print(" * Motion Interrupt:     ");
-  Serial.println(mpu.getIntMotionEnabled() ? "Enabled" : "Disabled");
-
-  Serial.print(" * Zero Motion Interrupt:     ");
-  Serial.println(mpu.getIntZeroMotionEnabled() ? "Enabled" : "Disabled");
-
-  Serial.print(" * Free Fall Interrupt:       ");
-  Serial.println(mpu.getIntFreeFallEnabled() ? "Enabled" : "Disabled");
-  
-  Serial.print(" * Motion Threshold:          ");
-  Serial.println(mpu.getMotionDetectionThreshold());
-
-  Serial.print(" * Motion Duration:           ");
-  Serial.println(mpu.getMotionDetectionDuration());
-
-  Serial.print(" * Zero Motion Threshold:     ");
-  Serial.println(mpu.getZeroMotionDetectionThreshold());
-
-  Serial.print(" * Zero Motion Duration:      ");
-  Serial.println(mpu.getZeroMotionDetectionDuration());
-  
-  Serial.print(" * Clock Source:              ");
-  switch(mpu.getClockSource())
-  {
-    case MPU6050_CLOCK_KEEP_RESET:     Serial.println("Stops the clock and keeps the timing generator in reset"); break;
-    case MPU6050_CLOCK_EXTERNAL_19MHZ: Serial.println("PLL with external 19.2MHz reference"); break;
-    case MPU6050_CLOCK_EXTERNAL_32KHZ: Serial.println("PLL with external 32.768kHz reference"); break;
-    case MPU6050_CLOCK_PLL_ZGYRO:      Serial.println("PLL with Z axis gyroscope reference"); break;
-    case MPU6050_CLOCK_PLL_YGYRO:      Serial.println("PLL with Y axis gyroscope reference"); break;
-    case MPU6050_CLOCK_PLL_XGYRO:      Serial.println("PLL with X axis gyroscope reference"); break;
-    case MPU6050_CLOCK_INTERNAL_8MHZ:  Serial.println("Internal 8MHz oscillator"); break;
-  }
-  
-  Serial.print(" * Accelerometer:             ");
-  switch(mpu.getRange())
-  {
-    case MPU6050_RANGE_16G:            Serial.println("+/- 16 g"); break;
-    case MPU6050_RANGE_8G:             Serial.println("+/- 8 g"); break;
-    case MPU6050_RANGE_4G:             Serial.println("+/- 4 g"); break;
-    case MPU6050_RANGE_2G:             Serial.println("+/- 2 g"); break;
-  }  
-
-  Serial.print(" * Accelerometer offsets:     ");
-  Serial.print(mpu.getAccelOffsetX());
-  Serial.print(" / ");
-  Serial.print(mpu.getAccelOffsetY());
-  Serial.print(" / ");
-  Serial.println(mpu.getAccelOffsetZ());
-
-  Serial.print(" * Accelerometer power delay: ");
-  switch(mpu.getAccelPowerOnDelay())
-  {
-    case MPU6050_DELAY_3MS:            Serial.println("3ms"); break;
-    case MPU6050_DELAY_2MS:            Serial.println("2ms"); break;
-    case MPU6050_DELAY_1MS:            Serial.println("1ms"); break;
-    case MPU6050_NO_DELAY:             Serial.println("0ms"); break;
-  }  
-  
-  Serial.println();
-}
-
-void loop()
-{
-  Vector rawAccel = mpu.readRawAccel();
-  Activites act = mpu.readActivites();
-
-  if (act.isActivity)
-  {
-    digitalWrite(4, HIGH);
-  } else
-  {
-    digitalWrite(4, LOW);
-  }
-
-  if (act.isInactivity)
-  {
-    digitalWrite(7, HIGH);
-  } else
-  {
-    digitalWrite(7, LOW);
-  }
-
-  Serial.print(act.isActivity);
-  Serial.print(act.isInactivity);
-
-  Serial.print(" ");
-  Serial.print(act.isPosActivityOnX);
-  Serial.print(act.isNegActivityOnX);
-  Serial.print(" ");
-
-  Serial.print(act.isPosActivityOnY);
-  Serial.print(act.isNegActivityOnY);
-  Serial.print(" ");
-
-  Serial.print(act.isPosActivityOnZ);
-  Serial.print(act.isNegActivityOnZ);
-  Serial.print("\n");
-  delay(50);
-}
-
-
diff --git a/MPU6050_temperature/MPU6050_temperature.ino b/MPU6050_temperature/MPU6050_temperature.ino
deleted file mode 100644
index d2d5958..0000000
--- a/MPU6050_temperature/MPU6050_temperature.ino
+++ /dev/null
@@ -1,38 +0,0 @@
-/*
-    MPU6050 Triple Axis Gyroscope & Accelerometer. Temperature Example.
-    Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-zyroskop-i-akcelerometr-mpu6050.html
-    GIT: https://github.com/jarzebski/Arduino-MPU6050
-    Web: http://www.jarzebski.pl
-    (c) 2014 by Korneliusz Jarzebski
-*/
-
-#include <Wire.h>
-#include <MPU6050.h>
-
-MPU6050 mpu;
-
-void setup() 
-{
-  Serial.begin(115200);
-
-  Serial.println("Initialize MPU6050");
-
-  while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G))
-  {
-    Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
-    delay(500);
-  }
-}
-
-void loop()
-{
-  float temp = mpu.readTemperature();
-
-  Serial.print(" Temp = ");
-  Serial.print(temp);
-  Serial.println(" *C");
-  
-  delay(500);
-}
-
-

From 8345c2f42985b3d88d77717210cc34e3bc187a92 Mon Sep 17 00:00:00 2001
From: Jeremy Belpois <j3r3xy@gmail.com>
Date: Thu, 14 Dec 2017 20:56:32 +0100
Subject: [PATCH 2/7] Moved examples

---
 .../MPU6050_accel_pitch_roll.ino              |  47 ++++++
 .../MPU6050_accel_simple.ino                  |  94 +++++++++++
 .../MPU6050_free_fall/MPU6050_free_fall.ino   | 143 ++++++++++++++++
 .../MPU6050_gyro_pitch_roll_yaw.ino           |  65 ++++++++
 .../MPU6050_gyro_simple.ino                   | 103 ++++++++++++
 examples/MPU6050_motion/MPU6050_motion.ino    | 156 ++++++++++++++++++
 .../MPU6050_temperature.ino                   |  38 +++++
 7 files changed, 646 insertions(+)
 create mode 100644 examples/MPU6050_accel_pitch_roll/MPU6050_accel_pitch_roll.ino
 create mode 100644 examples/MPU6050_accel_simple/MPU6050_accel_simple.ino
 create mode 100644 examples/MPU6050_free_fall/MPU6050_free_fall.ino
 create mode 100644 examples/MPU6050_gyro_pitch_roll_yaw/MPU6050_gyro_pitch_roll_yaw.ino
 create mode 100644 examples/MPU6050_gyro_simple/MPU6050_gyro_simple.ino
 create mode 100644 examples/MPU6050_motion/MPU6050_motion.ino
 create mode 100644 examples/MPU6050_temperature/MPU6050_temperature.ino

diff --git a/examples/MPU6050_accel_pitch_roll/MPU6050_accel_pitch_roll.ino b/examples/MPU6050_accel_pitch_roll/MPU6050_accel_pitch_roll.ino
new file mode 100644
index 0000000..c1b0e2f
--- /dev/null
+++ b/examples/MPU6050_accel_pitch_roll/MPU6050_accel_pitch_roll.ino
@@ -0,0 +1,47 @@
+/*
+    MPU6050 Triple Axis Gyroscope & Accelerometer. Pitch & Roll Accelerometer Example.
+    Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-zyroskop-i-akcelerometr-mpu6050.html
+    GIT: https://github.com/jarzebski/Arduino-MPU6050
+    Web: http://www.jarzebski.pl
+    (c) 2014 by Korneliusz Jarzebski
+*/
+
+#include <Wire.h>
+#include <MPU6050.h>
+
+MPU6050 mpu;
+
+void setup() 
+{
+  Serial.begin(115200);
+
+  Serial.println("Initialize MPU6050");
+
+  while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G))
+  {
+    Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
+    delay(500);
+  }
+}
+
+void loop()
+{
+  // Read normalized values 
+  Vector normAccel = mpu.readNormalizeAccel();
+
+  // Calculate Pitch & Roll
+  int pitch = -(atan2(normAccel.XAxis, sqrt(normAccel.YAxis*normAccel.YAxis + normAccel.ZAxis*normAccel.ZAxis))*180.0)/M_PI;
+  int roll = (atan2(normAccel.YAxis, normAccel.ZAxis)*180.0)/M_PI;
+
+  // Output
+  Serial.print(" Pitch = ");
+  Serial.print(pitch);
+  Serial.print(" Roll = ");
+  Serial.print(roll);
+  
+  Serial.println();
+  
+  delay(10);
+}
+
+
diff --git a/examples/MPU6050_accel_simple/MPU6050_accel_simple.ino b/examples/MPU6050_accel_simple/MPU6050_accel_simple.ino
new file mode 100644
index 0000000..d327167
--- /dev/null
+++ b/examples/MPU6050_accel_simple/MPU6050_accel_simple.ino
@@ -0,0 +1,94 @@
+/*
+    MPU6050 Triple Axis Gyroscope & Accelerometer. Simple Accelerometer Example.
+    Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-zyroskop-i-akcelerometr-mpu6050.html
+    GIT: https://github.com/jarzebski/Arduino-MPU6050
+    Web: http://www.jarzebski.pl
+    (c) 2014 by Korneliusz Jarzebski
+*/
+
+#include <Wire.h>
+#include <MPU6050.h>
+
+MPU6050 mpu;
+
+void setup() 
+{
+  Serial.begin(115200);
+
+  Serial.println("Initialize MPU6050");
+
+  while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G))
+  {
+    Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
+    delay(500);
+  }
+
+  // If you want, you can set accelerometer offsets
+  // mpu.setAccelOffsetX();
+  // mpu.setAccelOffsetY();
+  // mpu.setAccelOffsetZ();
+  
+  checkSettings();
+}
+
+void checkSettings()
+{
+  Serial.println();
+  
+  Serial.print(" * Sleep Mode:            ");
+  Serial.println(mpu.getSleepEnabled() ? "Enabled" : "Disabled");
+  
+  Serial.print(" * Clock Source:          ");
+  switch(mpu.getClockSource())
+  {
+    case MPU6050_CLOCK_KEEP_RESET:     Serial.println("Stops the clock and keeps the timing generator in reset"); break;
+    case MPU6050_CLOCK_EXTERNAL_19MHZ: Serial.println("PLL with external 19.2MHz reference"); break;
+    case MPU6050_CLOCK_EXTERNAL_32KHZ: Serial.println("PLL with external 32.768kHz reference"); break;
+    case MPU6050_CLOCK_PLL_ZGYRO:      Serial.println("PLL with Z axis gyroscope reference"); break;
+    case MPU6050_CLOCK_PLL_YGYRO:      Serial.println("PLL with Y axis gyroscope reference"); break;
+    case MPU6050_CLOCK_PLL_XGYRO:      Serial.println("PLL with X axis gyroscope reference"); break;
+    case MPU6050_CLOCK_INTERNAL_8MHZ:  Serial.println("Internal 8MHz oscillator"); break;
+  }
+  
+  Serial.print(" * Accelerometer:         ");
+  switch(mpu.getRange())
+  {
+    case MPU6050_RANGE_16G:            Serial.println("+/- 16 g"); break;
+    case MPU6050_RANGE_8G:             Serial.println("+/- 8 g"); break;
+    case MPU6050_RANGE_4G:             Serial.println("+/- 4 g"); break;
+    case MPU6050_RANGE_2G:             Serial.println("+/- 2 g"); break;
+  }  
+
+  Serial.print(" * Accelerometer offsets: ");
+  Serial.print(mpu.getAccelOffsetX());
+  Serial.print(" / ");
+  Serial.print(mpu.getAccelOffsetY());
+  Serial.print(" / ");
+  Serial.println(mpu.getAccelOffsetZ());
+  
+  Serial.println();
+}
+
+void loop()
+{
+  Vector rawAccel = mpu.readRawAccel();
+  Vector normAccel = mpu.readNormalizeAccel();
+
+  Serial.print(" Xraw = ");
+  Serial.print(rawAccel.XAxis);
+  Serial.print(" Yraw = ");
+  Serial.print(rawAccel.YAxis);
+  Serial.print(" Zraw = ");
+
+  Serial.println(rawAccel.ZAxis);
+  Serial.print(" Xnorm = ");
+  Serial.print(normAccel.XAxis);
+  Serial.print(" Ynorm = ");
+  Serial.print(normAccel.YAxis);
+  Serial.print(" Znorm = ");
+  Serial.println(normAccel.ZAxis);
+  
+  delay(10);
+}
+
+
diff --git a/examples/MPU6050_free_fall/MPU6050_free_fall.ino b/examples/MPU6050_free_fall/MPU6050_free_fall.ino
new file mode 100644
index 0000000..d2d9269
--- /dev/null
+++ b/examples/MPU6050_free_fall/MPU6050_free_fall.ino
@@ -0,0 +1,143 @@
+/*
+    MPU6050 Triple Axis Gyroscope & Accelerometer. Free fall detection.
+    Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-zyroskop-i-akcelerometr-mpu6050.html
+    GIT: https://github.com/jarzebski/Arduino-MPU6050
+    Web: http://www.jarzebski.pl
+    (c) 2014 by Korneliusz Jarzebski
+*/
+
+#include <Wire.h>
+#include <MPU6050.h>
+
+MPU6050 mpu;
+
+boolean ledState = false;
+boolean freefallDetected = false;
+int freefallBlinkCount = 0;
+
+void setup() 
+{
+  Serial.begin(115200);
+
+  Serial.println("Initialize MPU6050");
+
+  while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_16G))
+  {
+    Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
+    delay(500);
+  }
+
+  mpu.setAccelPowerOnDelay(MPU6050_DELAY_3MS);
+  
+  mpu.setIntFreeFallEnabled(true);
+  mpu.setIntZeroMotionEnabled(false);
+  mpu.setIntMotionEnabled(false);
+  
+  mpu.setDHPFMode(MPU6050_DHPF_5HZ);
+
+  mpu.setFreeFallDetectionThreshold(17);
+  mpu.setFreeFallDetectionDuration(2);	
+  
+  checkSettings();
+
+  pinMode(4, OUTPUT);
+  digitalWrite(4, LOW);
+  
+  attachInterrupt(0, doInt, RISING);
+}
+
+void doInt()
+{
+  freefallBlinkCount = 0;
+  freefallDetected = true;  
+}
+
+void checkSettings()
+{
+  Serial.println();
+  
+  Serial.print(" * Sleep Mode:                ");
+  Serial.println(mpu.getSleepEnabled() ? "Enabled" : "Disabled");
+
+  Serial.print(" * Motion Interrupt:     ");
+  Serial.println(mpu.getIntMotionEnabled() ? "Enabled" : "Disabled");
+
+  Serial.print(" * Zero Motion Interrupt:     ");
+  Serial.println(mpu.getIntZeroMotionEnabled() ? "Enabled" : "Disabled");
+
+  Serial.print(" * Free Fall Interrupt:       ");
+  Serial.println(mpu.getIntFreeFallEnabled() ? "Enabled" : "Disabled");
+
+  Serial.print(" * Free Fal Threshold:          ");
+  Serial.println(mpu.getFreeFallDetectionThreshold());
+
+  Serial.print(" * Free FallDuration:           ");
+  Serial.println(mpu.getFreeFallDetectionDuration());
+  
+  Serial.print(" * Clock Source:              ");
+  switch(mpu.getClockSource())
+  {
+    case MPU6050_CLOCK_KEEP_RESET:     Serial.println("Stops the clock and keeps the timing generator in reset"); break;
+    case MPU6050_CLOCK_EXTERNAL_19MHZ: Serial.println("PLL with external 19.2MHz reference"); break;
+    case MPU6050_CLOCK_EXTERNAL_32KHZ: Serial.println("PLL with external 32.768kHz reference"); break;
+    case MPU6050_CLOCK_PLL_ZGYRO:      Serial.println("PLL with Z axis gyroscope reference"); break;
+    case MPU6050_CLOCK_PLL_YGYRO:      Serial.println("PLL with Y axis gyroscope reference"); break;
+    case MPU6050_CLOCK_PLL_XGYRO:      Serial.println("PLL with X axis gyroscope reference"); break;
+    case MPU6050_CLOCK_INTERNAL_8MHZ:  Serial.println("Internal 8MHz oscillator"); break;
+  }
+  
+  Serial.print(" * Accelerometer:             ");
+  switch(mpu.getRange())
+  {
+    case MPU6050_RANGE_16G:            Serial.println("+/- 16 g"); break;
+    case MPU6050_RANGE_8G:             Serial.println("+/- 8 g"); break;
+    case MPU6050_RANGE_4G:             Serial.println("+/- 4 g"); break;
+    case MPU6050_RANGE_2G:             Serial.println("+/- 2 g"); break;
+  }  
+
+  Serial.print(" * Accelerometer offsets:     ");
+  Serial.print(mpu.getAccelOffsetX());
+  Serial.print(" / ");
+  Serial.print(mpu.getAccelOffsetY());
+  Serial.print(" / ");
+  Serial.println(mpu.getAccelOffsetZ());
+
+  Serial.print(" * Accelerometer power delay: ");
+  switch(mpu.getAccelPowerOnDelay())
+  {
+    case MPU6050_DELAY_3MS:            Serial.println("3ms"); break;
+    case MPU6050_DELAY_2MS:            Serial.println("2ms"); break;
+    case MPU6050_DELAY_1MS:            Serial.println("1ms"); break;
+    case MPU6050_NO_DELAY:             Serial.println("0ms"); break;
+  }  
+  
+  Serial.println();
+}
+
+void loop()
+{
+  Vector rawAccel = mpu.readRawAccel();
+  Activites act = mpu.readActivites();
+
+  Serial.print(act.isFreeFall);
+  Serial.print("\n");
+  
+  if (freefallDetected)
+  {
+    ledState = !ledState;
+
+    digitalWrite(4, ledState);
+
+    freefallBlinkCount++;
+
+    if (freefallBlinkCount == 20)
+    {
+      freefallDetected = false;
+      ledState = false;
+      digitalWrite(4, ledState);
+    }
+  }
+  
+  delay(100);
+  
+}
diff --git a/examples/MPU6050_gyro_pitch_roll_yaw/MPU6050_gyro_pitch_roll_yaw.ino b/examples/MPU6050_gyro_pitch_roll_yaw/MPU6050_gyro_pitch_roll_yaw.ino
new file mode 100644
index 0000000..c854158
--- /dev/null
+++ b/examples/MPU6050_gyro_pitch_roll_yaw/MPU6050_gyro_pitch_roll_yaw.ino
@@ -0,0 +1,65 @@
+/*
+    MPU6050 Triple Axis Gyroscope & Accelerometer. Pitch & Roll & Yaw Gyroscope Example.
+    Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-zyroskop-i-akcelerometr-mpu6050.html
+    GIT: https://github.com/jarzebski/Arduino-MPU6050
+    Web: http://www.jarzebski.pl
+    (c) 2014 by Korneliusz Jarzebski
+*/
+
+#include <Wire.h>
+#include <MPU6050.h>
+
+MPU6050 mpu;
+
+// Timers
+unsigned long timer = 0;
+float timeStep = 0.01;
+
+// Pitch, Roll and Yaw values
+float pitch = 0;
+float roll = 0;
+float yaw = 0;
+
+void setup() 
+{
+  Serial.begin(115200);
+
+  // Initialize MPU6050
+  while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G))
+  {
+    Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
+    delay(500);
+  }
+  
+  // Calibrate gyroscope. The calibration must be at rest.
+  // If you don't want calibrate, comment this line.
+  mpu.calibrateGyro();
+
+  // Set threshold sensivty. Default 3.
+  // If you don't want use threshold, comment this line or set 0.
+  mpu.setThreshold(3);
+}
+
+void loop()
+{
+  timer = millis();
+
+  // Read normalized values
+  Vector norm = mpu.readNormalizeGyro();
+
+  // Calculate Pitch, Roll and Yaw
+  pitch = pitch + norm.YAxis * timeStep;
+  roll = roll + norm.XAxis * timeStep;
+  yaw = yaw + norm.ZAxis * timeStep;
+
+  // Output raw
+  Serial.print(" Pitch = ");
+  Serial.print(pitch);
+  Serial.print(" Roll = ");
+  Serial.print(roll);  
+  Serial.print(" Yaw = ");
+  Serial.println(yaw);
+
+  // Wait to full timeStep period
+  delay((timeStep*1000) - (millis() - timer));
+}
diff --git a/examples/MPU6050_gyro_simple/MPU6050_gyro_simple.ino b/examples/MPU6050_gyro_simple/MPU6050_gyro_simple.ino
new file mode 100644
index 0000000..b0ff8d6
--- /dev/null
+++ b/examples/MPU6050_gyro_simple/MPU6050_gyro_simple.ino
@@ -0,0 +1,103 @@
+/*
+    MPU6050 Triple Axis Gyroscope & Accelerometer. Simple Gyroscope Example.
+    Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-zyroskop-i-akcelerometr-mpu6050.html
+    GIT: https://github.com/jarzebski/Arduino-MPU6050
+    Web: http://www.jarzebski.pl
+    (c) 2014 by Korneliusz Jarzebski
+*/
+
+#include <Wire.h>
+#include <MPU6050.h>
+
+MPU6050 mpu;
+
+void setup() 
+{
+  Serial.begin(115200);
+
+  // Initialize MPU6050
+  Serial.println("Initialize MPU6050");
+  while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G))
+  {
+    Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
+    delay(500);
+  }
+  
+  // If you want, you can set gyroscope offsets
+  // mpu.setGyroOffsetX(155);
+  // mpu.setGyroOffsetY(15);
+  // mpu.setGyroOffsetZ(15);
+  
+  // Calibrate gyroscope. The calibration must be at rest.
+  // If you don't want calibrate, comment this line.
+  mpu.calibrateGyro();
+
+  // Set threshold sensivty. Default 3.
+  // If you don't want use threshold, comment this line or set 0.
+  mpu.setThreshold(3);
+  
+  // Check settings
+  checkSettings();
+}
+
+void checkSettings()
+{
+  Serial.println();
+  
+  Serial.print(" * Sleep Mode:        ");
+  Serial.println(mpu.getSleepEnabled() ? "Enabled" : "Disabled");
+  
+  Serial.print(" * Clock Source:      ");
+  switch(mpu.getClockSource())
+  {
+    case MPU6050_CLOCK_KEEP_RESET:     Serial.println("Stops the clock and keeps the timing generator in reset"); break;
+    case MPU6050_CLOCK_EXTERNAL_19MHZ: Serial.println("PLL with external 19.2MHz reference"); break;
+    case MPU6050_CLOCK_EXTERNAL_32KHZ: Serial.println("PLL with external 32.768kHz reference"); break;
+    case MPU6050_CLOCK_PLL_ZGYRO:      Serial.println("PLL with Z axis gyroscope reference"); break;
+    case MPU6050_CLOCK_PLL_YGYRO:      Serial.println("PLL with Y axis gyroscope reference"); break;
+    case MPU6050_CLOCK_PLL_XGYRO:      Serial.println("PLL with X axis gyroscope reference"); break;
+    case MPU6050_CLOCK_INTERNAL_8MHZ:  Serial.println("Internal 8MHz oscillator"); break;
+  }
+  
+  Serial.print(" * Gyroscope:         ");
+  switch(mpu.getScale())
+  {
+    case MPU6050_SCALE_2000DPS:        Serial.println("2000 dps"); break;
+    case MPU6050_SCALE_1000DPS:        Serial.println("1000 dps"); break;
+    case MPU6050_SCALE_500DPS:         Serial.println("500 dps"); break;
+    case MPU6050_SCALE_250DPS:         Serial.println("250 dps"); break;
+  } 
+  
+  Serial.print(" * Gyroscope offsets: ");
+  Serial.print(mpu.getGyroOffsetX());
+  Serial.print(" / ");
+  Serial.print(mpu.getGyroOffsetY());
+  Serial.print(" / ");
+  Serial.println(mpu.getGyroOffsetZ());
+  
+  Serial.println();
+}
+
+void loop()
+{
+  Vector rawGyro = mpu.readRawGyro();
+  Vector normGyro = mpu.readNormalizeGyro();
+
+  Serial.print(" Xraw = ");
+  Serial.print(rawGyro.XAxis);
+  Serial.print(" Yraw = ");
+  Serial.print(rawGyro.YAxis);
+  Serial.print(" Zraw = ");
+  Serial.println(rawGyro.ZAxis);
+
+  Serial.print(" Xnorm = ");
+  Serial.print(normGyro.XAxis);
+  Serial.print(" Ynorm = ");
+  Serial.print(normGyro.YAxis);
+  Serial.print(" Znorm = ");
+  Serial.println(normGyro.ZAxis);
+  
+  delay(10);
+}
+
+
diff --git a/examples/MPU6050_motion/MPU6050_motion.ino b/examples/MPU6050_motion/MPU6050_motion.ino
new file mode 100644
index 0000000..27c7c29
--- /dev/null
+++ b/examples/MPU6050_motion/MPU6050_motion.ino
@@ -0,0 +1,156 @@
+/*
+    MPU6050 Triple Axis Gyroscope & Accelerometer. Motion detection.
+    Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-zyroskop-i-akcelerometr-mpu6050.html
+    GIT: https://github.com/jarzebski/Arduino-MPU6050
+    Web: http://www.jarzebski.pl
+    (c) 2014 by Korneliusz Jarzebski
+*/
+
+#include <Wire.h>
+#include <MPU6050.h>
+
+MPU6050 mpu;
+
+void setup() 
+{
+  Serial.begin(115200);
+
+  Serial.println("Initialize MPU6050");
+
+  while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_16G))
+  {
+    Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
+    delay(500);
+  }
+
+  mpu.setAccelPowerOnDelay(MPU6050_DELAY_3MS);
+
+  mpu.setIntFreeFallEnabled(false);  
+  mpu.setIntZeroMotionEnabled(false);
+  mpu.setIntMotionEnabled(false);
+  
+  mpu.setDHPFMode(MPU6050_DHPF_5HZ);
+
+  mpu.setMotionDetectionThreshold(2);
+  mpu.setMotionDetectionDuration(5);
+
+  mpu.setZeroMotionDetectionThreshold(4);
+  mpu.setZeroMotionDetectionDuration(2);	
+  
+  checkSettings();
+
+  pinMode(4, OUTPUT);
+  digitalWrite(4, LOW);
+
+  pinMode(7, OUTPUT);
+  digitalWrite(7, LOW);  
+}
+
+void checkSettings()
+{
+  Serial.println();
+  
+  Serial.print(" * Sleep Mode:                ");
+  Serial.println(mpu.getSleepEnabled() ? "Enabled" : "Disabled");
+
+  Serial.print(" * Motion Interrupt:     ");
+  Serial.println(mpu.getIntMotionEnabled() ? "Enabled" : "Disabled");
+
+  Serial.print(" * Zero Motion Interrupt:     ");
+  Serial.println(mpu.getIntZeroMotionEnabled() ? "Enabled" : "Disabled");
+
+  Serial.print(" * Free Fall Interrupt:       ");
+  Serial.println(mpu.getIntFreeFallEnabled() ? "Enabled" : "Disabled");
+  
+  Serial.print(" * Motion Threshold:          ");
+  Serial.println(mpu.getMotionDetectionThreshold());
+
+  Serial.print(" * Motion Duration:           ");
+  Serial.println(mpu.getMotionDetectionDuration());
+
+  Serial.print(" * Zero Motion Threshold:     ");
+  Serial.println(mpu.getZeroMotionDetectionThreshold());
+
+  Serial.print(" * Zero Motion Duration:      ");
+  Serial.println(mpu.getZeroMotionDetectionDuration());
+  
+  Serial.print(" * Clock Source:              ");
+  switch(mpu.getClockSource())
+  {
+    case MPU6050_CLOCK_KEEP_RESET:     Serial.println("Stops the clock and keeps the timing generator in reset"); break;
+    case MPU6050_CLOCK_EXTERNAL_19MHZ: Serial.println("PLL with external 19.2MHz reference"); break;
+    case MPU6050_CLOCK_EXTERNAL_32KHZ: Serial.println("PLL with external 32.768kHz reference"); break;
+    case MPU6050_CLOCK_PLL_ZGYRO:      Serial.println("PLL with Z axis gyroscope reference"); break;
+    case MPU6050_CLOCK_PLL_YGYRO:      Serial.println("PLL with Y axis gyroscope reference"); break;
+    case MPU6050_CLOCK_PLL_XGYRO:      Serial.println("PLL with X axis gyroscope reference"); break;
+    case MPU6050_CLOCK_INTERNAL_8MHZ:  Serial.println("Internal 8MHz oscillator"); break;
+  }
+  
+  Serial.print(" * Accelerometer:             ");
+  switch(mpu.getRange())
+  {
+    case MPU6050_RANGE_16G:            Serial.println("+/- 16 g"); break;
+    case MPU6050_RANGE_8G:             Serial.println("+/- 8 g"); break;
+    case MPU6050_RANGE_4G:             Serial.println("+/- 4 g"); break;
+    case MPU6050_RANGE_2G:             Serial.println("+/- 2 g"); break;
+  }  
+
+  Serial.print(" * Accelerometer offsets:     ");
+  Serial.print(mpu.getAccelOffsetX());
+  Serial.print(" / ");
+  Serial.print(mpu.getAccelOffsetY());
+  Serial.print(" / ");
+  Serial.println(mpu.getAccelOffsetZ());
+
+  Serial.print(" * Accelerometer power delay: ");
+  switch(mpu.getAccelPowerOnDelay())
+  {
+    case MPU6050_DELAY_3MS:            Serial.println("3ms"); break;
+    case MPU6050_DELAY_2MS:            Serial.println("2ms"); break;
+    case MPU6050_DELAY_1MS:            Serial.println("1ms"); break;
+    case MPU6050_NO_DELAY:             Serial.println("0ms"); break;
+  }  
+  
+  Serial.println();
+}
+
+void loop()
+{
+  Vector rawAccel = mpu.readRawAccel();
+  Activites act = mpu.readActivites();
+
+  if (act.isActivity)
+  {
+    digitalWrite(4, HIGH);
+  } else
+  {
+    digitalWrite(4, LOW);
+  }
+
+  if (act.isInactivity)
+  {
+    digitalWrite(7, HIGH);
+  } else
+  {
+    digitalWrite(7, LOW);
+  }
+
+  Serial.print(act.isActivity);
+  Serial.print(act.isInactivity);
+
+  Serial.print(" ");
+  Serial.print(act.isPosActivityOnX);
+  Serial.print(act.isNegActivityOnX);
+  Serial.print(" ");
+
+  Serial.print(act.isPosActivityOnY);
+  Serial.print(act.isNegActivityOnY);
+  Serial.print(" ");
+
+  Serial.print(act.isPosActivityOnZ);
+  Serial.print(act.isNegActivityOnZ);
+  Serial.print("\n");
+  delay(50);
+}
+
+
diff --git a/examples/MPU6050_temperature/MPU6050_temperature.ino b/examples/MPU6050_temperature/MPU6050_temperature.ino
new file mode 100644
index 0000000..d2d5958
--- /dev/null
+++ b/examples/MPU6050_temperature/MPU6050_temperature.ino
@@ -0,0 +1,38 @@
+/*
+    MPU6050 Triple Axis Gyroscope & Accelerometer. Temperature Example.
+    Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-zyroskop-i-akcelerometr-mpu6050.html
+    GIT: https://github.com/jarzebski/Arduino-MPU6050
+    Web: http://www.jarzebski.pl
+    (c) 2014 by Korneliusz Jarzebski
+*/
+
+#include <Wire.h>
+#include <MPU6050.h>
+
+MPU6050 mpu;
+
+void setup() 
+{
+  Serial.begin(115200);
+
+  Serial.println("Initialize MPU6050");
+
+  while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G))
+  {
+    Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
+    delay(500);
+  }
+}
+
+void loop()
+{
+  float temp = mpu.readTemperature();
+
+  Serial.print(" Temp = ");
+  Serial.print(temp);
+  Serial.println(" *C");
+  
+  delay(500);
+}
+
+

From e8b2b5ca1132399668ff030a33f24a17a44c7cfd Mon Sep 17 00:00:00 2001
From: Jeremy Belpois <j3r3xy@gmail.com>
Date: Thu, 14 Dec 2017 21:05:57 +0100
Subject: [PATCH 3/7] Added basic error tracking and removed unnecessary while
 loops

---
 MPU6050.cpp | 32 +++++++++++++++++++++-----------
 MPU6050.h   |  7 +++++++
 2 files changed, 28 insertions(+), 11 deletions(-)

diff --git a/MPU6050.cpp b/MPU6050.cpp
index d9cc131..8f116c4 100644
--- a/MPU6050.cpp
+++ b/MPU6050.cpp
@@ -353,9 +353,10 @@ Vector MPU6050::readRawAccel(void)
     Wire.endTransmission();
 
     Wire.beginTransmission(mpuAddress);
-    Wire.requestFrom(mpuAddress, 6);
-
-    while (Wire.available() < 6);
+    if (Wire.requestFrom(mpuAddress, 6) != 6) {
+		errno = ERR_NOT_ENOUGH_BYTES;
+		return 0;
+	}
 
     #if ARDUINO >= 100
 	uint8_t xha = Wire.read();
@@ -413,10 +414,12 @@ Vector MPU6050::readRawGyro(void)
     #endif
     Wire.endTransmission();
 
-    Wire.beginTransmission(mpuAddress);
-    Wire.requestFrom(mpuAddress, 6);
+	
+    if (Wire.requestFrom(mpuAddress, 6) != 6) {
+		errno = ERR_NOT_ENOUGH_BYTES;
+		return 0;
+	}
 
-    while (Wire.available() < 6);
 
     #if ARDUINO >= 100
 	uint8_t xha = Wire.read();
@@ -627,7 +630,10 @@ uint8_t MPU6050::fastRegister8(uint8_t reg)
     Wire.endTransmission();
 
     Wire.beginTransmission(mpuAddress);
-    Wire.requestFrom(mpuAddress, 1);
+    if (Wire.requestFrom(mpuAddress, 1) != 1) {
+		errno = ERR_NOT_ENOUGH_BYTES;
+		return 0;
+	}
     #if ARDUINO >= 100
 	value = Wire.read();
     #else
@@ -652,8 +658,10 @@ uint8_t MPU6050::readRegister8(uint8_t reg)
     Wire.endTransmission();
 
     Wire.beginTransmission(mpuAddress);
-    Wire.requestFrom(mpuAddress, 1);
-    while(!Wire.available()) {};
+    if (Wire.requestFrom(mpuAddress, 1) != 1) {
+		return 0;
+	}
+    
     #if ARDUINO >= 100
 	value = Wire.read();
     #else
@@ -691,8 +699,10 @@ int16_t MPU6050::readRegister16(uint8_t reg)
     Wire.endTransmission();
 
     Wire.beginTransmission(mpuAddress);
-    Wire.requestFrom(mpuAddress, 2);
-    while(!Wire.available()) {};
+    if (Wire.requestFrom(mpuAddress, 2) != 2) {
+		errno = ERR_NOT_ENOUGH_BYTES;
+		return 0;
+	}
     #if ARDUINO >= 100
         uint8_t vha = Wire.read();
         uint8_t vla = Wire.read();
diff --git a/MPU6050.h b/MPU6050.h
index fbf077e..d069b3a 100644
--- a/MPU6050.h
+++ b/MPU6050.h
@@ -75,6 +75,11 @@ along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 #ifndef VECTOR_STRUCT_H
 #define VECTOR_STRUCT_H
+
+// Errors
+#define ERR_NOERR 			0
+#define ERR_NOT_ENOUG_BYTES	1
+
 struct Vector
 {
     float XAxis;
@@ -230,6 +235,7 @@ class MPU6050
 	Vector readNormalizeAccel(void);
 	Vector readScaledAccel(void);
 
+	uint8_t getErrno();
     private:
 	Vector ra, rg; // Raw vectors
 	Vector na, ng; // Normalized vectors
@@ -242,6 +248,7 @@ class MPU6050
 	bool useCalibrate;
 	int mpuAddress;
 
+	uint8_t errno;
 	uint8_t fastRegister8(uint8_t reg);
 
 	uint8_t readRegister8(uint8_t reg);

From 8f352312330798bd730f4cbd184e37a8dbcdb380 Mon Sep 17 00:00:00 2001
From: Jeremy Belpois <j3r3xy@gmail.com>
Date: Thu, 14 Dec 2017 21:16:42 +0100
Subject: [PATCH 4/7] Removed unnecessary while loops and added basic error
 reporting

---
 MPU6050.cpp | 10 +++++++---
 MPU6050.h   |  6 +++---
 2 files changed, 10 insertions(+), 6 deletions(-)

diff --git a/MPU6050.cpp b/MPU6050.cpp
index 8f116c4..436a61a 100644
--- a/MPU6050.cpp
+++ b/MPU6050.cpp
@@ -355,7 +355,7 @@ Vector MPU6050::readRawAccel(void)
     Wire.beginTransmission(mpuAddress);
     if (Wire.requestFrom(mpuAddress, 6) != 6) {
 		errno = ERR_NOT_ENOUGH_BYTES;
-		return 0;
+		return ra;
 	}
 
     #if ARDUINO >= 100
@@ -417,7 +417,7 @@ Vector MPU6050::readRawGyro(void)
 	
     if (Wire.requestFrom(mpuAddress, 6) != 6) {
 		errno = ERR_NOT_ENOUGH_BYTES;
-		return 0;
+		return rg;
 	}
 
 
@@ -615,7 +615,11 @@ void MPU6050::setThreshold(uint8_t multiple)
     // Remember old threshold value
     actualThreshold = multiple;
 }
-
+uint8_t MPU6050::getErrno(void) 
+{
+	uint8_t errno;
+	return errno;
+}
 // Fast read 8-bit from register
 uint8_t MPU6050::fastRegister8(uint8_t reg)
 {
diff --git a/MPU6050.h b/MPU6050.h
index d069b3a..a77c344 100644
--- a/MPU6050.h
+++ b/MPU6050.h
@@ -77,8 +77,8 @@ along with this program.  If not, see <http://www.gnu.org/licenses/>.
 #define VECTOR_STRUCT_H
 
 // Errors
-#define ERR_NOERR 			0
-#define ERR_NOT_ENOUG_BYTES	1
+#define ERR_NOERR 				0
+#define ERR_NOT_ENOUGH_BYTES	1
 
 struct Vector
 {
@@ -235,7 +235,7 @@ class MPU6050
 	Vector readNormalizeAccel(void);
 	Vector readScaledAccel(void);
 
-	uint8_t getErrno();
+	uint8_t getErrno(void);
     private:
 	Vector ra, rg; // Raw vectors
 	Vector na, ng; // Normalized vectors

From 668b6031cde0c5545adee7a2a6b072789ffcc212 Mon Sep 17 00:00:00 2001
From: Jeremy Belpois <j3r3xy@gmail.com>
Date: Thu, 14 Dec 2017 21:16:56 +0100
Subject: [PATCH 5/7] Updated readme

---
 README.md | 23 ++---------------------
 1 file changed, 2 insertions(+), 21 deletions(-)

diff --git a/README.md b/README.md
index a2fedf0..770aa3f 100644
--- a/README.md
+++ b/README.md
@@ -1,25 +1,6 @@
 Arduino-MPU6050
 ===============
 
-MPU6050 Triple Axis Gyroscope & Accelerometer Arduino Library.
+MPU6050 Triple Axis Gyroscope & Accelerometer Arduino Library based on work by @jarzebski
 
-![MPU6050 Processing](http://www.jarzebski.pl/media/zoom/publish/2014/10/mpu6050-processing-2.png "MPU6050 Processing")
-
-Tutorials: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-zyroskop-i-akcelerometr-mpu6050.html
-
-This library use I2C to communicate, 2 pins are required to interface
-
-I need your help
-----------------
-
-July 31, 2017
-
-In the near future I plan to refactoring the libraries. The main goal is to improve code quality, new features and add support for different versions of Arduino boards like Uno, Mega and Zero.
-
-For this purpose I need to buy modules, Arduino Boards and lot of beer. 
-
-If you want to support the further and long-term development of libraries, please help.
-
-You can do this by transferring any amount to my PayPal account: paypal@jarzebski.pl
-
-Thanks!
+This library use I2C to communicate, thus 2 pins are required to interface

From 32e8e9e6d6aff44e813e29dede6570862301c589 Mon Sep 17 00:00:00 2001
From: Jeremy Belpois <j3r3xy@gmail.com>
Date: Thu, 14 Dec 2017 21:21:29 +0100
Subject: [PATCH 6/7] Updated library structure

---
 library.properties             | 9 +++++++++
 MPU6050.cpp => src/MPU6050.cpp | 0
 MPU6050.h => src/MPU6050.h     | 0
 3 files changed, 9 insertions(+)
 create mode 100644 library.properties
 rename MPU6050.cpp => src/MPU6050.cpp (100%)
 rename MPU6050.h => src/MPU6050.h (100%)

diff --git a/library.properties b/library.properties
new file mode 100644
index 0000000..ec78d4e
--- /dev/null
+++ b/library.properties
@@ -0,0 +1,9 @@
+name=MPU6050
+version=1.0
+author=
+maintainer=
+sentence=MPU6050 Triple Axis Gyroscope & Accelerometer 
+paragraph=
+category=Uncategorized
+url=
+architectures=*
diff --git a/MPU6050.cpp b/src/MPU6050.cpp
similarity index 100%
rename from MPU6050.cpp
rename to src/MPU6050.cpp
diff --git a/MPU6050.h b/src/MPU6050.h
similarity index 100%
rename from MPU6050.h
rename to src/MPU6050.h

From d31626a8e9cb9b641fa2b7eab930c12535e275ba Mon Sep 17 00:00:00 2001
From: Jeremy Belpois <j3r3xy@gmail.com>
Date: Thu, 14 Dec 2017 21:33:21 +0100
Subject: [PATCH 7/7] Revert "Updated readme"

This reverts commit 668b6031cde0c5545adee7a2a6b072789ffcc212.
---
 README.md | 23 +++++++++++++++++++++--
 1 file changed, 21 insertions(+), 2 deletions(-)

diff --git a/README.md b/README.md
index 770aa3f..a2fedf0 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,25 @@
 Arduino-MPU6050
 ===============
 
-MPU6050 Triple Axis Gyroscope & Accelerometer Arduino Library based on work by @jarzebski
+MPU6050 Triple Axis Gyroscope & Accelerometer Arduino Library.
 
-This library use I2C to communicate, thus 2 pins are required to interface
+![MPU6050 Processing](http://www.jarzebski.pl/media/zoom/publish/2014/10/mpu6050-processing-2.png "MPU6050 Processing")
+
+Tutorials: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-zyroskop-i-akcelerometr-mpu6050.html
+
+This library use I2C to communicate, 2 pins are required to interface
+
+I need your help
+----------------
+
+July 31, 2017
+
+In the near future I plan to refactoring the libraries. The main goal is to improve code quality, new features and add support for different versions of Arduino boards like Uno, Mega and Zero.
+
+For this purpose I need to buy modules, Arduino Boards and lot of beer. 
+
+If you want to support the further and long-term development of libraries, please help.
+
+You can do this by transferring any amount to my PayPal account: paypal@jarzebski.pl
+
+Thanks!