#include "Wire.h" // Arduino Wire library #include "I2Cdev.h" //Installer ces 2 librairies #include "MPU6050.h" #include "math.h" // AD0 low = 0x68 (default for InvenSense evaluation board) // AD0 high = 0x69 MPU6050 accelgyro; int16_t ax, ay, az; //mesures brutes int16_t gx, gy, gz; float angle=0; void setup() { Wire.begin(); //I2C bus //Serial.begin(9600); Serial.begin(9600); while (!Serial) { ; // wait for serial port to connect. Needed for native USB (LEONARDO) } // initialize device accelgyro.initialize(); } void loop() { accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); angle= atan2((double)ax,(double)az )*180/PI; // 180/PI permet d'avoir la valeur en ° Serial.println(angle); delay(10); }