Source: https://mokxi.com/accelerometer-simulator Simulator # An MPU6050 accelerometer simulator you tip by hand Mokxi is a free online accelerometer simulator that runs in your browser, with nothing to install and no account needed. An Arduino Uno reads an MPU-6050 over I2C with nothing but the Wire library and prints its raw acceleration, temperature and rotation twice a second. Tip the board on the canvas and gravity moves from one axis to the next. Start building free or see the MPU6050 part - 455 parts on the bench - 43 boards running now - 1.00x real time, on every board Click to open it in the editor Drag the sensor board to tip it, or click anything else to open it in the editor. ## What you can do here In the circuit above, or in the editor it opens. - Read the MPU-6050’s raw registers with Wire - Tip the board in pitch and roll and watch X, Y and Z share gravity - Turn the readings into an angle, as the tilt meter project does - Watch the gyroscope move only while the board is moving - Try an ADXL345 or an analog ADXL335 instead - Build a balancing robot on the same sensor ## What the running circuit shows An accelerometer at rest measures gravity. The MPU-6050 wakes up asleep, so the sketch first writes 0 to its power register, 0x6B. After that, fourteen bytes starting at register 0x3B hold three accelerations, the temperature and three rotation rates, each a 16-bit number sent high byte first. On the default ±2 g range, 1 g is 16384 counts. In the engine the board starts flat and the serial monitor reads AcX = 0, AcY = 0 and AcZ = 16384: all of gravity on Z. Tip it 30 degrees in pitch and X takes half of it, AcX = -8192, while Z falls to 14189, which is 16384 times the cosine of 30 degrees. Roll it 90 degrees as well and Z drops to 0 while Y takes the 14189. The temperature reads 25.0 °C, the part’s setting. ## How the sensor is modeled The register map, the ranges and the sleep bit. The MPU-6050 part answers at I2C address 0x68, or 0x69 with AD0 pulled high, powers up asleep, and returns its readings from the registers the datasheet names, scaled by the range a sketch picks for the accelerometer and the gyroscope. WHO_AM_I reads 0x68 whichever address it is on, as on the real chip. The gyroscope reads how fast the board is being turned, so it sits at 0 at rest and moves only while you drag. What it leaves out: a real MPU-6050 has offsets and noise to calibrate away, which is half the work of a real project, and here a flat board reads exactly 0 on X and Y. There is no yaw to drag on a flat canvas, so the Z gyro always reads 0, and there is no magnetometer on this chip to find north. MPU6050 with Arduino I2C, explained The servo simulator The LCD simulator ## Questions Is it free? Yes. The circuit on this page, every part in it and the editor it opens in are on the free plan, with no card. Do I need an account? No. The circuit runs the moment the page does, and the editor opens without one. A free account is only for saving a project to the cloud and sharing it by link. How do I get an angle from an MPU6050? At rest, the angle is the arctangent of two acceleration axes: pitch from X against Z. Tipped 30 degrees, X reads -8192 and Z 14189, and the arctangent of 8192 over 14189 is 30 degrees. The tilt meter project works it out on the Uno. Does it need an MPU6050 library? Not this sketch: it uses only Wire, so every register it reads is in view, and the same sketch runs on a real Uno with a GY-521 board. Which accelerometers can I simulate? The MPU-6050 on its GY-521 board, the ADXL345 on I2C and the analog ADXL335, among the sensors in the parts bin. ## More simulators Each one opens on a circuit that is already running. 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Nothing to install, and no account needed. Start building free Open the editor