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; }