= */ // I2Cdev and MPU6050 must be installed as libraries, or else the. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class using DMP (MotionApps v2.0) // by Jeff Rowberg // Updates should (hopefully) always be available at // // Changelog: // - Added Auto Calibration and offset generator // - and altered FIFO retrieval sequence to avoid using blocking code // - Eliminated a potential infinite loop // - added seamless Fastwire support // - added note about gyro calibration // - added note about Arduino 1.0.1 + Leonardo compatibility error // - improved FIFO overflow handling and simplified read process // - completely rearranged DMP initialization code and simplification // - pull gyro and accel data from FIFO packet instead of reading directly // - fix broken FIFO read sequence and change interrupt detection to RISING // - add gravity-compensated initial reference frame acceleration output // - add 3D math helper file to DMP6 example sketch // - add Euler output and Yaw/Pitch/Roll output formats // - remove accel offset clearing for better results (thanks Sungon Lee) // - fixed gyro sensitivity to be 2000 deg/sec instead of 250 // - basic DMP initialization working /* = I2Cdev device library code is placed under the MIT license Copyright (c) 2012 Jeff Rowberg Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
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