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here is my code, i copied this code form , to run this code with mpu-6050 i need to change register set bit values, form datasheet of mpu6050 i changed the values , but still i did not get the right result. #include <Wire.h> //Include the Wire.h library so we can communicate with the gyro //Declaring variables int cal_int; unsigned long UL_timer; double gyro_pitch, gyro_roll, gyro_yaw; double gyro_roll_cal, gyro_pitch_cal, gyro_yaw_cal; byte highByte, lowByte; //Setup routine void setup(){ Wire.begin(); //Start the I2C as master Serial.begin(9600); //Start the serial connetion @ 9600bps //The gyro is disabled by default and needs to be started Wire.beginTransmission(105); //Start communication with the gyro (adress 1101001) Wire.write(0x20); //We want to write to register 20 Wire.write(0x0F); //Set the register bits as 00001111 (Turn on the gyro and enable all axis) Wire.endTransmission(); //End the transmission with the gyro Wire.beginTransmission(105); //Start communication with the gyro (adress 1101001) Wire.write(0x23); //We want to write to register 23 Wire.write(0x80); //Set the register bits as 10000000 (Block Data Update active) Wire.endTransmission(); //End the transmission with the gyro delay(250); //Give the gyro time to start //Let's take multiple samples so we can determine the average gyro offset Serial.print("Starting calibration..."); //Print message for (cal_int = 0; cal_int < 2000 ; cal_int ++){ //Take 2000 readings for calibration gyro_signalen(); //Read the gyro output gyro_roll_cal += gyro_roll; //Ad roll value to gyro_roll_cal gyro_pitch_cal += gyro_pitch; //Ad pitch value to gyro_pitch_cal gyro_yaw_cal += gyro_yaw; //Ad yaw value to gyro_yaw_cal if(cal_int%100 == 0)Serial.print("."); //Print a dot every 100 readings delay(4); //Wait 4 milliseconds before the next loop } //Now that we have 2000 measures, we need to devide by 2000 to get the average gyro offset Serial.println(" done!"); //2000 measures are done! gyro_roll_cal /= 2000; //Divide the roll total by 2000 gyro_pitch_cal /= 2000; //Divide the pitch total by 2000 gyro_yaw_cal /= 2000; //Divide the yaw total by 2000 } //Main program void loop(){ delay(250); //Wait 250 microseconds for every loop gyro_signalen(); //Read the gyro signals print_output(); //Print the output } void gyro_signalen(){ Wire.beginTransmission(105); //Start communication with the gyro (adress 1101001) Wire.write(168); //Start reading @ register 28h and auto increment with every read Wire.endTransmission(); //End the transmission Wire.requestFrom(105, 6); //Request 6 bytes from the gyro while(Wire.available() < 6); //Wait until the 6 bytes are received lowByte = Wire.read(); //First received byte is the low part of the angular data highByte = Wire.read(); //Second received byte is the high part of the angular data gyro_roll = ((highByte<<8)|lowByte); //Multiply highByte by 256 and ad lowByte if(cal_int == 2000)gyro_roll -= gyro_roll_cal; //Only compensate after the calibration lowByte = Wire.read(); //First received byte is the low part of the angular data highByte = Wire.read(); //Second received byte is the high part of the angular data gyro_pitch = ((highByte<<8)|lowByte); //Multiply highByte by 256 and ad lowByte gyro_pitch *= -1; //Invert axis if(cal_int == 2000)gyro_pitch -= gyro_pitch_cal; //Only compensate after the calibration lowByte = Wire.read(); //First received byte is the low part of the angular data highByte = Wire.read(); //Second received byte is the high part of the angular data gyro_yaw = ((highByte<<8)|lowByte); //Multiply highByte by 256 and ad lowByte gyro_yaw *= -1; //Invert axis if(cal_int == 2000)gyro_yaw -= gyro_yaw_cal; //Only compensate after the calibration } void print_output(){ Serial.print("Pitch:"); if(gyro_pitch >= 0)Serial.print("+"); Serial.print(gyro_pitch/57.14286,0); //Convert to degree per second if(gyro_pitch/57.14286 - 2 > 0)Serial.print(" NoU"); else if(gyro_pitch/57.14286 + 2 < 0)Serial.print(" NoD"); else Serial.print(" ---"); Serial.print(" Roll:"); if(gyro_roll >= 0)Serial.print("+"); Serial.print(gyro_roll/57.14286,0); //Convert to degree per second if(gyro_roll/57.14286 - 2 > 0)Serial.print(" RwD"); else if(gyro_roll/57.14286 + 2 < 0)Serial.print(" RwU"); else Serial.print(" ---"); Serial.print(" Yaw:"); if(gyro_yaw >= 0)Serial.print("+"); Serial.print(gyro_yaw/57.14286,0); //Convert to degree per second if(gyro_yaw/57.14286 - 2 > 0)Serial.println(" NoR"); else if(gyro_yaw/57.14286 + 2 < 0)Serial.println(" NoL"); else Serial.println(" ---"); }