int main()
{
MPU6050 *mpu = new MPU6050();
mpu->setDebug(true);
mpu->reset();
if (mpu->whoAmI())
{
printf("WhoAmI was okay\n");
// i2c bypass enabled
mpu->setBypassEnable(true);
printf("Set and Get BypassEnable to true - %s\n", mpu->getBypassEnable() ? "SUCCESS" : "FAILED");
mpu->setBypassEnable(false);
printf("Set and Get BypassEnable to false - %s\n", !mpu->getBypassEnable() ? "SUCCESS" : "FAILED");
// gyro ranges
mpu->setFullScaleGyroRange(fullScaleGyroRange::FS_GYRO_250DEG_S);
printf("Set and Get FullScaleGyroRange to 250deg/sec - %s\n", (mpu->getFullScaleGyroRange() == fullScaleGyroRange::FS_GYRO_250DEG_S) ? "SUCCESS" : "FAILED");
mpu->setFullScaleGyroRange(fullScaleGyroRange::FS_GYRO_500DEG_S);
printf("Set and Get FullScaleGyroRange to 500deg/sec - %s\n", (mpu->getFullScaleGyroRange() == fullScaleGyroRange::FS_GYRO_500DEG_S) ? "SUCCESS" : "FAILED");
mpu->setFullScaleGyroRange(fullScaleGyroRange::FS_GYRO_1000DEG_S);
printf("Set and Get FullScaleGyroRange to 1000deg/sec - %s\n", (mpu->getFullScaleGyroRange() == fullScaleGyroRange::FS_GYRO_1000DEG_S) ? "SUCCESS" : "FAILED");
mpu->setFullScaleGyroRange(fullScaleGyroRange::FS_GYRO_2000DEG_S);
printf("Set and Get FullScaleGyroRange to 2000deg/sec - %s\n", (mpu->getFullScaleGyroRange() == fullScaleGyroRange::FS_GYRO_2000DEG_S) ? "SUCCESS" : "FAILED");
// accelerometer ranges
mpu->setFullScaleAccRange(fullScaleAccRange::FS_ACCL_2G);
printf("Set and Get FullScaleAccRange to 2G - %s\n", (mpu->getFullScaleAccRange() == fullScaleAccRange::FS_ACCL_2G) ? "SUCCESS" : "FAILED");
mpu->setFullScaleAccRange(fullScaleAccRange::FS_ACCL_4G);
printf("Set and Get FullScaleAccRange to 4G - %s\n", (mpu->getFullScaleAccRange() == fullScaleAccRange::FS_ACCL_4G) ? "SUCCESS" : "FAILED");
mpu->setFullScaleAccRange(fullScaleAccRange::FS_ACCL_8G);
printf("Set and Get FullScaleAccRange to 8G - %s\n", (mpu->getFullScaleAccRange() == fullScaleAccRange::FS_ACCL_8G) ? "SUCCESS" : "FAILED");
mpu->setFullScaleAccRange(fullScaleAccRange::FS_ACCL_16G);
printf("Set and Get FullScaleAccRange to 16G - %s\n", (mpu->getFullScaleAccRange() == fullScaleAccRange::FS_ACCL_16G) ? "SUCCESS" : "FAILED");
return 1;
}
return 0;
}
