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Update MPU6050.py #1

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Update MPU6050.py #1

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b5b17e9
Update MPU6050.py
bgrossbo Jun 19, 2022
45bd00a
Update MPU6050.py
bgrossbo Jun 19, 2022
ad5c606
Update MPU6050.py
bgrossbo Jun 19, 2022
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14 changes: 8 additions & 6 deletions MPU6050.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@ class MPU6050:
# Global Variables
GRAVITIY_MS2 = 9.80665
address = None
bus = smbus.SMBus(1)
bus = None

# Scale Modifiers
ACCEL_SCALE_MODIFIER_2G = 16384.0
Expand Down Expand Up @@ -65,9 +65,11 @@ class MPU6050:
ACCEL_CONFIG = 0x1C
GYRO_CONFIG = 0x1B

def __init__(self, address):
def __init__(self, address, bus_index = 1):
# Set address and bus index
self.address = address

self.bus = smbus.SMBus(bus_index)

# Wake up the MPU-6050 since it starts in sleep mode
self.bus.write_byte_data(self.address, self.PWR_MGMT_1, 0x00)

Expand Down Expand Up @@ -253,9 +255,9 @@ def get_gyro_data(self):

def get_all_data(self):
"""Reads and returns all the available data."""
temp = get_temp()
accel = get_accel_data()
gyro = get_gyro_data()
temp = self.get_temp()
accel = self.get_accel_data()
gyro = self.get_gyro_data()

return [accel, gyro, temp]

Expand Down