MPU6050 — Accel / Gyro

I2C address 0x68. 3-axis accelerometer, 3-axis gyroscope, and die temperature.

Connect and read

from eyes17 import eyes
from eyes17.SENSORS import MPU6050

p = eyes.open()
imu = MPU6050.connect(p.I2C)   # address=0x68 by default
print(imu.getRaw())
# [Ax, Ay, Az, Temp_C, Gx, Gy, Gz]

Or via auto-detect:

sens = p.guess_sensor()
# pick the MPU6050 instance from the list

Configuration

Method	Options
setAccelRange(rs)	2, 4, 8, 16 (g)
setGyroRange(rs)	250, 500, 1000, 2000 (°/s)
KalmanFilter(opt)	0.01…10000, or 'OFF'
powerUp(...)	wake device

imu.setAccelRange(4)
imu.setGyroRange(500)
ax, ay, az, temp, gx, gy, gz = imu.getRaw()
print(f'Temp={temp:.1f} C  Accel=({ax:.3f},{ay:.3f},{az:.3f}) g')

Helpers: getAccel(), getGyro() return 3-vectors when you do not need temperature.