Arduino Sketch to automatically calculate MPU6050 offsets

Hepgun · February 13, 2017

Why i get this ?

Arduino: 1.8.1 (Windows 10), Board: "WeMos D1 R2 & mini, 80 MHz, 921600, 4M (3M SPIFFS)"

D:\MPU6050_calibration\MPU6050_calibration.ino: In function 'void setup()':

MPU6050_calibration:62: error: 'TWBR' was not declared in this scope

TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz). Leonardo measured 250kHz.

^

exit status 1
'TWBR' was not declared in this scope

This report would have more information with
"Show verbose output during compilation"
option enabled in File -> Preferences.

chou4525 · April 5, 2017

It's very good. Thanks!

theabkumar · April 8, 2017

On 1/31/2014 at 4:12 PM, luisrodenas said:

Fixed!! There was a bug in the sketch.

Variables were overflowing in 8-bit Arduinos, like the UNO or Leonardo.

Now it works fine in my Leonardo, but took a while to converge, 2-3 minutes.

Thank you for your contribution and let me know if it works for you now.

how did you get this fixed? I am using uno board and it is taking forever. a help will be nice.

Send any character to start sketch.

MPU6050 Calibration Sketch

Your MPU6050 should be placed in horizontal position, with package letters facing up.
Don't touch it until you see a finish message.

MPU6050 connection successful

Reading sensors for first time...

Calculating offsets...
-234   -135   17729   -3   0   -1
102   -52   16091   -5   0   -1
-75   -36   16578   5   -2   -3
0   352   16065   -3   3   -11
-33   24   16581   4   -4   25
-150   -251   16330   -5   6   -30
223   343   16379   2   -6   33
-204   -174   16238   0   1   -32
303   190   16519   -2   1   27
-49   -118   16471   0   0   -23
-125   80   16413   -4   3   27
-73   51   16230   7   0   -34
139   -36   16406   -2   1   38
50   452   16604   0   -4   -38
163   -124   16578   -2   5   38
175   0   16349   6   -1   -41
-306   -179   16161   -7   -4   41
305   182   16530   5   6   -43
-413   -400   16120   -7   -7   50
-118   203   16312   5   12   -50
156   -264   16642   0   -15   47
-235   -107   16077   0   12   -41
50   24   16520   -8   -10   36
-176   -310   16327   10   6   -30
76   506   16280   -5   -2   24
510   261   16770   11   0   -25
68   152   16361   -14   0   18
63   -96   16255   23   -1   -23
-520   -344   16262   -29   3   26
487   544   16904   35   -4   -26
268   -118   16165   -36   8   25
-318   -83   16343   34   -4   -21
-405   -280   16202   -36   -3   23
270   153   16597   33   -2   -31
187   109   16321   -29   5   33
5   -21   16362   24   -1   -29
-459   -326   16217   -30   1   29
196   130   16524   34   0   -25
308   93   16500   -28   -6   17
-210   225   16245   23   12   -16
-97   -108   16423   -14   -8   23
27   -88   16324   6   0   -22
-215   -191   16229   -5   5   19
163   40   16440   7   -3   -16
-42   -23   16342   -6   -1   20
144   462   16583   8   -2   -27
101   -270   16409   -7   2   25
-31   141   16387   12   -5   -18
-174   -79   16374   -23   3   12
-58   38   16192   15   5   -6

these are my readings....

ximbax007 · May 7, 2017

I have tried to use the program, but he don´t calculate the offsets. He show the serial, but stoped and not show anything

Lefteris · June 5, 2017

On 5/8/2017 at 1:15 AM, ximbax007 said:

I have tried to use the program, but he don´t calculate the offsets. He show the serial, but stoped and not show anything

I had the same problem.

Make sure you don't have anything else connected to your Arduino and that you haven't connected the ADO pin to your arduino

Esteban · June 23, 2017

I'm doing a project with the MPU6050 accelerometer. First I calculate the displacements of the MPU only once executing the sketch of Luis Ródenas,

Later, once I get the displacements, I copy them into the configuration of a second sketch and I always execute it with the same values.

//Placa casa MPU6050 viejo
//-1172  -873  1351  76  -758  27
accelgyro.setXAccelOffset(-1172);
accelgyro.setYAccelOffset(-873);
accelgyro.setZAccelOffset(1351);
accelgyro.setXGyroOffset(76);
accelgyro.setYGyroOffset(-773);
accelgyro.setZGyroOffset(33);

The problem I have is that after a time of having executed the second sketch several times, the raw readings present a new displacement

I read that this problem can be by the temperature of the sensor, that it is necessary to compensate the readings with the temperature. But I can not find an example to do so. I wanted to ask if anyone knows what the problem might be and how I can fix it

Thank you very much

karaposu · December 5, 2017

Hi do you have mpu9250 version of your calibration code? i tried to make it wrk on 9250 but no success so far. it says mpu6050 conncetion failed. of course i change 0x68 values and tried series of related numbers but no success. If you can help me on this one really preciate it

renrr3 · March 29, 2018

Hi guys,

First of all, many thanks to luisrodenas for sharing this work! And to all who contributed on the thread along this years.

Studying the code, I have stumbled on a doubt that many here have posted without a definitive answer, which was asked also in many other sources that refers to this calibration code.

What is the motivation for the division by 8 and 4 in the calibration function?

  ax_offset=-mean_ax/8;
  ay_offset=-mean_ay/8;
  az_offset=(16384-mean_az)/8;

  gx_offset=-mean_gx/4;
  gy_offset=-mean_gy/4;
  gz_offset=-mean_gz/4;

I have searched a lot but couldn't figure it out. Was it based on trial and error?

Also, when we use the setOffset functions, what those really do in the sensor?

    accelgyro.setXAccelOffset(ax_offset);
    accelgyro.setYAccelOffset(ay_offset);
    accelgyro.setZAccelOffset(az_offset);

    accelgyro.setXGyroOffset(gx_offset);
    accelgyro.setYGyroOffset(gy_offset);
    accelgyro.setZGyroOffset(gz_offset);

For example, if I took the ax_offset, ay_offset, az_offset, gx_offset, gy_offset, and gz_offset values, and subtract from raw data taken from the sensor (without any offset configuration), would that have the same effect? I am looking forward to experiment it myself, but I still don't have access to the resources yet.

Many thanks

Susan · June 14, 2018

Dear luisrodenas,

May I know what is the motivation for the division by 8 and 4 in the calibration function?

  ax_offset=-mean_ax/8;
  ay_offset=-mean_ay/8;
  az_offset=(16384-mean_az)/8;

  gx_offset=-mean_gx/4;
  gy_offset=-mean_gy/4;
  gz_offset=-mean_gz/4;

Moreover in calibration function, unlike accelerometer offset value why the (gyro offset - mean gyro value) is divided by 2 instead of 1 which is giro_deadzone?

    if (abs(mean_gx)<=giro_deadzone) ready++;
    else gx_offset=gx_offset-mean_gx/(giro_deadzone+1);

    if (abs(mean_gy)<=giro_deadzone) ready++;
    else gy_offset=gy_offset-mean_gy/(giro_deadzone+1);

    if (abs(mean_gz)<=giro_deadzone) ready++;
    else gz_offset=gz_offset-mean_gz/(giro_deadzone+1);

I would be really thankful if I get the reasons of using different divisor value.

Thank you.

Susan · June 14, 2018

Dear luisrodenas,

May I know what is the motivation for the division by 8 and 4 in the calibration function?

  ax_offset=-mean_ax/8;
  ay_offset=-mean_ay/8;
  az_offset=(16384-mean_az)/8;

  gx_offset=-mean_gx/4;
  gy_offset=-mean_gy/4;
  gz_offset=-mean_gz/4;

Moreover in calibration function, unlike accelerometer offset value why the (gyro offset - mean gyro value) is divided by 2 instead of 1 which is giro_deadzone?

    if (abs(mean_gx)<=giro_deadzone) ready++;
    else gx_offset=gx_offset-mean_gx/(giro_deadzone+1);

    if (abs(mean_gy)<=giro_deadzone) ready++;
    else gy_offset=gy_offset-mean_gy/(giro_deadzone+1);

    if (abs(mean_gz)<=giro_deadzone) ready++;
    else gz_offset=gz_offset-mean_gz/(giro_deadzone+1);

I would be really thankful if I get the reasons for using different divisor value.

Thank you.

Santiago · March 31, 2019

Dear Susan, renrr3, jrlin and anyone who might be confused about these calculations on the calibration function:

On 3/29/2018 at 8:49 PM, renrr3 said:

Studying the code, I have stumbled on a doubt that many here have posted without a definitive answer, which was asked also in many other sources that refers to this calibration code.

What is the motivation for the division by 8 and 4 in the calibration function?

On 6/14/2018 at 9:35 AM, Susan said:

May I know what is the motivation for the division by 8 and 4 in the calibration function?

On 6/14/2018 at 9:35 AM, Susan said:

ax_offset=-mean_ax/8;

ay_offset=-mean_ay/8;

az_offset=(16384-mean_az)/8;

gx_offset=-mean_gx/4;

gy_offset=-mean_gy/4;

gz_offset=-mean_gz/4;

I came upon this problem while trying to calibrate the sensor with a +/-16G range. It turns out that these constants rescale the offsets for the selected sensibility, as the values returned by the MPU6050 are in the maximum range. So, for a +/-2G accelerometer range (standard) it's necessary to divide the coefficients by 8 (16G/8 = 2G) and the gyroscope ones by 4 for a standard sensibility of 250dps (1000dps/4 = 250dps). In order to calibrate the sensor properly, I also had to change the constants 16384 by 2048. This is because the chip provides values between -32,768 and 32,767. With a range of 2G, the gravity acceleration is equivalent to the number 16384 (32767/2). If the range is 16G, then 1G is 2048 (32767/16).

This explanation was provided by arduarn in the Arduino forum. You can check the original discussion here http://forum.arduino.cc/index.php?topic=535717

Best wishes,

hasanmdmahmudul5 · June 24

I always find error message when I upload the codes from

MPU6050_DMP6.

The Error message as follows:

C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:144:18: error: variable or field 'serialEvent' declared void
void serialEvent(Serial port) {
^~~~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:144:25: error: expected ')' before 'port'
void serialEvent(Serial port) {
^~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:32:1: error: 'import' does not name a type; did you mean 'qsort'?
import processing.serial.*;
^~~~~~
qsort
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:33:1: error: 'import' does not name a type; did you mean 'qsort'?
import processing.opengl.*;
^~~~~~
qsort
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:34:1: error: 'import' does not name a type; did you mean 'qsort'?
import toxi.geom.*;
^~~~~~
qsort
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:35:1: error: 'import' does not name a type; did you mean 'qsort'?
import toxi.processing.*;
^~~~~~
qsort
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:43:1: error: 'ToxiclibsSupport' does not name a type
ToxiclibsSupport gfx;
^~~~~~~~~~~~~~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:45:1: error: 'Serial' does not name a type
Serial port; // The serial port
^~~~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:46:5: error: decomposition declaration cannot be declared with type 'char'
char[] teapotPacket = new char[14]; // InvenSense Teapot packet
^~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:46:5: note: type must be cv-qualified 'auto' or reference to cv-qualified 'auto'
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:46:5: error: empty decomposition declaration
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:46:8: error: expected initializer before 'teapotPacket'
char[] teapotPacket = new char[14]; // InvenSense Teapot packet
^~~~~~~~~~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:51:6: error: decomposition declaration cannot be declared with type 'float'
float[] q = new float[4];
^~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:51:6: note: type must be cv-qualified 'auto' or reference to cv-qualified 'auto'
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:51:6: error: empty decomposition declaration
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:51:9: error: expected initializer before 'q'
float[] q = new float[4];
^
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:52:19: error: conversion from 'Quaternion*' to non-scalar type 'Quaternion' requested
Quaternion quat = new Quaternion(1, 0, 0, 0);
^~~~~~~~~~~~~~~~~~~~~~~~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:54:6: error: decomposition declaration cannot be declared with type 'float'
float[] gravity = new float[3];
^~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:54:6: note: type must be cv-qualified 'auto' or reference to cv-qualified 'auto'
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:54:6: error: empty decomposition declaration
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:54:9: error: expected initializer before 'gravity'
float[] gravity = new float[3];
^~~~~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:55:6: error: decomposition declaration cannot be declared with type 'float'
float[] euler = new float[3];
^~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:55:6: note: type must be cv-qualified 'auto' or reference to cv-qualified 'auto'
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:55:6: error: empty decomposition declaration
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:55:9: error: expected initializer before 'euler'
float[] euler = new float[3];
^~~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:56:6: error: decomposition declaration cannot be declared with type 'float'
float[] ypr = new float[3];
^~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:56:6: note: type must be cv-qualified 'auto' or reference to cv-qualified 'auto'
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:56:6: error: empty decomposition declaration
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:56:9: error: expected initializer before 'ypr'
float[] ypr = new float[3];
^~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde: In function 'void setup()':
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:58:6: error: redefinition of 'void setup()'
void setup() {
^~~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPU6050_DMP6.ino:165:6: note: 'void setup()' previously defined here
void setup() {
^~~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:60:20: error: 'OPENGL' was not declared in this scope
size(300, 300, OPENGL);
^~~~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:60:5: error: 'size' was not declared in this scope
size(300, 300, OPENGL);
^~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:60:5: note: suggested alternative: 'Wire'
size(300, 300, OPENGL);
^~~~
Wire
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:61:5: error: 'gfx' was not declared in this scope
gfx = new ToxiclibsSupport(this);
^~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:61:15: error: expected type-specifier before 'ToxiclibsSupport'
gfx = new ToxiclibsSupport(this);
^~~~~~~~~~~~~~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:64:5: error: 'lights' was not declared in this scope
lights();
^~~~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:64:5: note: suggested alternative: 'gets'
lights();
^~~~~~
gets
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:65:5: error: 'smooth' was not declared in this scope
smooth();
^~~~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:65:5: note: suggested alternative: 'short'
smooth();
^~~~~~
short
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:68:20: error: 'class HardwareSerial' has no member named 'list'
println(Serial.list());
^~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:68:5: error: 'println' was not declared in this scope
println(Serial.list());
^~~~~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:68:5: note: suggested alternative: 'printf'
println(Serial.list());
^~~~~~~
printf
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:71:30: error: 'class HardwareSerial' has no member named 'list'
String portName = Serial.list()[0];
^~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:77:5: error: 'port' was not declared in this scope
port = new Serial(this, portName, 115200);
^~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:77:5: note: suggested alternative: 'word'
port = new Serial(this, portName, 115200);
^~~~
word
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:77:16: error: expected type-specifier before 'Serial'
port = new Serial(this, portName, 115200);
^~~~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde: In function 'void draw()':
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:88:9: error: 'port' was not declared in this scope
port.write('r');
^~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:88:9: note: suggested alternative: 'word'
port.write('r');
^~~~
word
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:93:5: error: 'background' was not declared in this scope
background(0);
^~~~~~~~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:93:5: note: suggested alternative: 'round'
background(0);
^~~~~~~~~~
round
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:96:5: error: 'pushMatrix' was not declared in this scope
pushMatrix();
^~~~~~~~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:97:15: error: 'width' was not declared in this scope
translate(width / 2, height / 2);
^~~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:97:26: error: 'height' was not declared in this scope
translate(width / 2, height / 2);
^~~~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:97:5: error: 'translate' was not declared in this scope
translate(width / 2, height / 2);
^~~~~~~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:109:10: error: decomposition declaration cannot be declared with type 'float'
float[] axis = quat.toAxisAngle();
^~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:109:10: note: type must be cv-qualified 'auto' or reference to cv-qualified 'auto'
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:109:10: error: empty decomposition declaration
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:109:13: error: expected initializer before 'axis'
float[] axis = quat.toAxisAngle();
^~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:110:12: error: 'axis' was not declared in this scope
rotate(axis[0], -axis[1], axis[3], axis[2]);
^~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:110:12: note: suggested alternative: 'exit'
rotate(axis[0], -axis[1], axis[3], axis[2]);
^~~~
exit
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:110:5: error: 'rotate' was not declared in this scope
rotate(axis[0], -axis[1], axis[3], axis[2]);
^~~~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:110:5: note: suggested alternative: 'rename'
rotate(axis[0], -axis[1], axis[3], axis[2]);
^~~~~~
rename
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:113:5: error: 'fill' was not declared in this scope
fill(255, 0, 0, 200);
^~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:113:5: note: suggested alternative: 'ftell'
fill(255, 0, 0, 200);
^~~~
ftell
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:114:5: error: 'box' was not declared in this scope
box(10, 10, 200);
^~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:120:5: error: 'rotateX' was not declared in this scope
rotateX(PI/2);
^~~~~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:122:5: error: 'popMatrix' was not declared in this scope
popMatrix();
^~~~~~~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:126:16: error: 'TRIANGLES' was not declared in this scope
beginShape(TRIANGLES);
^~~~~~~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:126:5: error: 'beginShape' was not declared in this scope
beginShape(TRIANGLES);
^~~~~~~~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:126:5: note: suggested alternative: 'blinkState'
beginShape(TRIANGLES);
^~~~~~~~~~
blinkState
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:127:5: error: 'vertex' was not declared in this scope
vertex(-100, 2, 30); vertex(0, 2, -80); vertex(100, 2, 30); // wing top layer
^~~~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:131:5: error: 'endShape' was not declared in this scope
endShape();
^~~~~~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:132:16: error: 'QUADS' was not declared in this scope
beginShape(QUADS);
^~~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde: At global scope:
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:144:18: error: variable or field 'serialEvent' declared void
void serialEvent(Serial port) {
^~~~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:144:25: error: expected ')' before 'port'
void serialEvent(Serial port) {
^~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde: In function 'void drawCylinder(float, float, float, int)':
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:207:16: error: 'QUAD_STRIP' was not declared in this scope
beginShape(QUAD_STRIP);
^~~~~~~~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:207:5: error: 'beginShape' was not declared in this scope
beginShape(QUAD_STRIP);
^~~~~~~~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:207:5: note: suggested alternative: 'blinkState'
beginShape(QUAD_STRIP);
^~~~~~~~~~
blinkState
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:209:9: error: 'vertex' was not declared in this scope
vertex(topRadius*cos(angle), 0, topRadius*sin(angle));
^~~~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:213:5: error: 'endShape' was not declared in this scope
endShape();
^~~~~~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:218:20: error: 'TRIANGLE_FAN' was not declared in this scope
beginShape(TRIANGLE_FAN);
^~~~~~~~~~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:221:9: error: 'vertex' was not declared in this scope
vertex(0, 0, 0);
^~~~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:232:20: error: 'TRIANGLE_FAN' was not declared in this scope
beginShape(TRIANGLE_FAN);
^~~~~~~~~~~~
C:\Users\steth\AppData\Local\Temp\.arduinoIDE-unsaved2023524-8068-1i5wnfp.nzl9\MPU6050_DMP6\MPUTeapot.pde:235:9: error: 'vertex' was not declared in this scope
vertex(0, tall, 0);
^~~~~~

exit status 1

Compilation error: variable or field 'serialEvent' declared void

Arduino Sketch to automatically calculate MPU6050 offsets

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