Gyro_Testing.ino

#include <Wire.h> //library allows communication with I2C / TWI devices
#include <math.h> //library includes mathematical functions
#include <Mouse.h>

const int MPU=0x68; //I2C address of the MPU-6050
int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ; //16-bit integers
int AcXcal,AcYcal,AcZcal,GyXcal,GyYcal,GyZcal,tcal; //calibration variables
double t,tx,tf,pitch,roll;

void setup()
{
    Wire.begin(); //initiate wire library and I2C
    Wire.beginTransmission(MPU); //begin transmission to I2C slave device
    Wire.write(0x6B); // PWR_MGMT_1 register
    Wire.write(0); // set to zero (wakes up the MPU-6050)  
    Wire.endTransmission(true); //ends transmission to I2C slavef device
    Serial.begin(9600); //serial communication at 9600 bauds
    Mouse.begin(); 
}

void loop()
{
    Wire.beginTransmission(MPU); //begin transmission to I2C slave device
    Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H)
    Wire.endTransmission(false); //restarts transmission to I2C slave device
    Wire.requestFrom(MPU,14,true); //request 14 registers in total  

    //Acceleration data correction
    AcXcal = -950;
    AcYcal = -300;
    AcZcal = 0;

    //Temperature correction
    tcal = -1600;

    //Gyro correction
    GyXcal = 480;
    GyYcal = 170;
    GyZcal = 210;


    //read accelerometer data
    AcX=Wire.read()<<8|Wire.read(); // 0x3B (ACCEL_XOUT_H) 0x3C (ACCEL_XOUT_L)  
    AcY=Wire.read()<<8|Wire.read(); // 0x3D (ACCEL_YOUT_H) 0x3E (ACCEL_YOUT_L) 
    AcZ=Wire.read()<<8|Wire.read(); // 0x3F (ACCEL_ZOUT_H) 0x40 (ACCEL_ZOUT_L)
  
    //read temperature data 
    Tmp=Wire.read()<<8|Wire.read(); // 0x41 (TEMP_OUT_H) 0x42 (TEMP_OUT_L) 
  
    //read gyroscope data
    GyX=Wire.read()<<8|Wire.read(); // 0x43 (GYRO_XOUT_H) 0x44 (GYRO_XOUT_L)
    GyY=Wire.read()<<8|Wire.read(); // 0x45 (GYRO_YOUT_H) 0x46 (GYRO_YOUT_L)
    GyZ=Wire.read()<<8|Wire.read(); // 0x47 (GYRO_ZOUT_H) 0x48 (GYRO_ZOUT_L) 

    //temperature calculation
    tx = Tmp + tcal;
    t = tx/340 + 36.53; //equation for temperature in degrees C from datasheet
    tf = (t * 9/5) + 32; //fahrenheit

    //get pitch/roll
    getAngle(AcX,AcY,AcZ);
  
    //printing values to serial port
    Serial.print("Angle: ");
    Serial.print("Pitch = "); Serial.print(pitch + 6);
    Serial.print(" Roll = "); Serial.println(roll);
    
    //if mouse is tilted to the back-left, perform left down press
    if(roll > 16 && pitch < -13){ 
      //Dragging Feature
      Serial.println("Diagonal Click");
         if (!Mouse.isPressed(MOUSE_LEFT)) {
           Mouse.press(MOUSE_LEFT);
           Serial.println("Diagonal Press");
           delay(750);
         }else{ 
          Mouse.release(MOUSE_LEFT); 
          Serial.println("Diagonal Release");
          delay(750);
         }
    }
    else if(roll > 18){ 
    // if the mouse is not pressed, press it:
      Mouse.press(MOUSE_LEFT);
      Serial.println("Clicking Left"); 
      delay(300);
      Mouse.release(MOUSE_LEFT);       

    }
    else if(roll < -13){ 
       Mouse.press(MOUSE_RIGHT);
      Serial.println("Clicking Right"); 
      delay(300); 
     Mouse.release(MOUSE_RIGHT);
    }
    else if(pitch +6 > 20) { 
      Mouse.move(0, 0, 1); 
      Serial.println("Scrolling Up"); 
       delay(100); 
    }
    else if(pitch +6 < -30) { 
      Mouse.move(0, 0, -1); 
      Serial.println("Scrolling Down"); 
      delay(100); 
    }
    delay(10);
}

//function to convert accelerometer values into pitch and roll
void getAngle(int Ax,int Ay,int Az) 
{
    double x = Ax;
    double y = Ay;
    double z = Az;

    pitch = atan(x/sqrt((y*y) + (z*z))); //pitch calculation
    roll = atan(y/sqrt((x*x) + (z*z))); //roll calculation

    //converting radians into degrees
    pitch = pitch * (180.0/3.14);
    roll = roll * (180.0/3.14) ;
}