Configure an MPU-6050 (viam-micro-server)
The gyro-mpu6050
movement sensor model supports a combination gyroscope and accelerometer manufactured by TDK InvenSense.
Navigate to the CONFIGURE tab of your machine’s page in the Viam app.
Click the + icon next to your machine part in the left-hand menu and select Component.
Select the movement-sensor
type, then select the gyro-mpu6050
model.
Enter a name or use the suggested name for your movement sensor and click Create.
![Creation of an `gyro-mpu6050` movement sensor in the Viam app config builder.](/components/movement-sensor/mpu6050-builder.png)
Copy and paste the following attribute template into your movement sensor’s attributes field. Then remove and fill in the attributes as applicable to your movement sensor, according to the table below.
{
"board": "<your-board-name>",
"i2c_bus": "<your-i2c-bus-name-on-board>",
"use_alt_i2c_address": <boolean>
}
{
"board": "local",
"i2c_bus": "default_i2c_bus"
}
{
"components": [
{
"name": "<your-sensor-name>",
"model": "gyro-mpu6050",
"type": "movement_sensor",
"namespace": "rdk",
"attributes": {
"board": "<your-board-name>",
"i2c_bus": "<your-i2c-bus-name-on-board>",
"use_alt_i2c_address": <boolean>
},
"depends_on": []
}
]
}
{
"components": [
{
"name": "local",
"model": "esp32",
"type": "board",
"namespace": "rdk",
"attributes": {
"pins": [15, 21, 22],
"i2cs": [
{
"name": "default_i2c_bus",
"bus": "i2c0",
"data_pin": 21,
"clock_pin": 22
}
]
}
},
{
"name": "my_accelgyro",
"model": "gyro-mpu6050",
"type": "movement_sensor",
"namespace": "rdk",
"attributes": {
"board": "local",
"i2c_bus": "default_i2c_bus"
}
}
]
}
Attributes
Name | Type | Required? | Description |
---|---|---|---|
board | string | Required | The name of the board to which the device is wired. |
i2c_bus | string | Required | The name of the I2C bus configured on your board wired to this device. |
use_alt_i2c_address | boolean | Optional | Depends on whether you wire AD0 low (leaving the default address of 0x68) or high (making the address 0x69). If high, set true . If low, set false .Default: false |
Test the movement sensor
After you configure your movement sensor, navigate to the Control tab and select the dedicated movement sensor dropdown panel. This panel presents the data collected by the movement sensor. The sections in the panel include the angular velocity and linear acceleration.
![The movement sensor component in the control tab](/components/movement-sensor/movement-sensor-control-tab-mpu6050.png)
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If you notice any issues with the documentation, feel free to file an issue or edit this file.
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