MPU6050 (RoboLibJ - Javadocs)

java.lang.Object
- io.github.robolib.module.iface.Interface
- - io.github.robolib.module.iface.I2C
  - - io.github.robolib.module.sensor.mpu6050.MPU6050

All Implemented Interfaces:

IAccelerometer
```
public class MPU6050
extends I2C
implements IAccelerometer
```
MPU6050 Accelerometer/Gyroscope class. Converted from C++ to Java Original file part of i2cdevlib project https://github.com/jrowberg/i2cdevlib/blob/master/Arduino/MPU6050/MPU6050.cpp

Author:

Jeff Rowberg , noriah

Nested Class Summary

Nested Classes
Modifier and Type	Class and Description
`static class`	`MPU6050.ClockSpeed` I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the MPU-60X0 internal 8MHz clock.
`static class`	`MPU6050.DHPFilterMode` Enum representation of High-Pass filter values.
`static class`	`MPU6050.DLPFilterMode` Enum representation of Low-Pass Filter values The DLPF_CFG parameter sets the digital low pass filter configuration.
`static class`	`MPU6050.EXTFrameSyncBitLocation` Configures the external Frame Synchronization (FSYNC) pin sampling.
`static class`	`MPU6050.GyroClockSource` Enum representation of the Clock Source values.
`static class`	`MPU6050.GyroRange` Enum representation of Gyro range values.

Nested classes/interfaces inherited from class io.github.robolib.module.iface.I2C
I2C.Port

Nested classes/interfaces inherited from class io.github.robolib.module.iface.Interface
Interface.InterfaceType

Nested classes/interfaces inherited from interface io.github.robolib.module.sensor.IAccelerometer
IAccelerometer.AccelRange

Field Summary

Fields
Modifier and Type	Field and Description
`private static byte[]`	`dmpConfig`
`private static byte[]`	`dmpMemory`
`private byte[]`	`dmpPacketBuffer`
`private short`	`dmpPacketSize`
`private static byte[]`	`dmpUpdates`
`private static int`	`MPU6050_ACCEL_FIFO_EN_BIT`
`private static byte`	`MPU6050_ACCEL_FS_16`
`private static byte`	`MPU6050_ACCEL_FS_2`
`private static byte`	`MPU6050_ACCEL_FS_4`
`private static byte`	`MPU6050_ACCEL_FS_8`
`private static int`	`MPU6050_ACONFIG_ACCEL_HPF_BIT`
`private static int`	`MPU6050_ACONFIG_ACCEL_HPF_LENGTH`
`private static int`	`MPU6050_ACONFIG_AFS_SEL_BIT`
`private static int`	`MPU6050_ACONFIG_AFS_SEL_LENGTH`
`private static int`	`MPU6050_ACONFIG_XA_ST_BIT`
`private static int`	`MPU6050_ACONFIG_YA_ST_BIT`
`private static int`	`MPU6050_ACONFIG_ZA_ST_BIT`
`private static byte`	`MPU6050_ADDRESS_AD0_HIGH` address pin high (VCC)
`private static byte`	`MPU6050_ADDRESS_AD0_LOW` address pin low (GND), default for InvenSense evaluation board
`private static int`	`MPU6050_BANKSEL_CFG_USER_BANK_BIT`
`private static int`	`MPU6050_BANKSEL_MEM_SEL_BIT`
`private static int`	`MPU6050_BANKSEL_MEM_SEL_LENGTH`
`private static int`	`MPU6050_BANKSEL_PRFTCH_EN_BIT`
`private static int`	`MPU6050_CFG_DLPF_CFG_BIT`
`private static int`	`MPU6050_CFG_DLPF_CFG_LENGTH`
`private static int`	`MPU6050_CFG_EXT_SYNC_SET_BIT`
`private static int`	`MPU6050_CFG_EXT_SYNC_SET_LENGTH`
`private static byte`	`MPU6050_CLOCK_INTERNAL`
`private static byte`	`MPU6050_CLOCK_KEEP_RESET`
`private static byte`	`MPU6050_CLOCK_PLL_EXT19M`
`private static byte`	`MPU6050_CLOCK_PLL_EXT32K`
`private static byte`	`MPU6050_CLOCK_PLL_XGYRO`
`private static byte`	`MPU6050_CLOCK_PLL_YGYRO`
`private static byte`	`MPU6050_CLOCK_PLL_ZGYRO`
`private static byte`	`MPU6050_DEFAULT_ADDRESS`
`private static int`	`MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT`
`private static int`	`MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT`
`private static int`	`MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT`
`private static int`	`MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT`
`private static int`	`MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT`
`private static int`	`MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT`
`private static int`	`MPU6050_DETECT_ACCEL_ON_DELAY_BIT`
`private static int`	`MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH`
`private static byte`	`MPU6050_DETECT_DECREMENT_1`
`private static byte`	`MPU6050_DETECT_DECREMENT_2`
`private static byte`	`MPU6050_DETECT_DECREMENT_4`
`private static byte`	`MPU6050_DETECT_DECREMENT_RESET`
`private static int`	`MPU6050_DETECT_FF_COUNT_BIT`
`private static int`	`MPU6050_DETECT_FF_COUNT_LENGTH`
`private static int`	`MPU6050_DETECT_MOT_COUNT_BIT`
`private static int`	`MPU6050_DETECT_MOT_COUNT_LENGTH`
`private static short`	`MPU6050_DMP_CODE_SIZE` Source is from the InvenSense MotionApps v2 demo code.
`private static short`	`MPU6050_DMP_CONFIG_SIZE`
`private static int`	`MPU6050_DMP_MEMORY_BANK_SIZE`
`private static int`	`MPU6050_DMP_MEMORY_BANKS`
`private static int`	`MPU6050_DMP_MEMORY_CHUNK_SIZE`
`private static short`	`MPU6050_DMP_UPDATES_SIZE`
`private static int`	`MPU6050_DMPINT_0_BIT`
`private static int`	`MPU6050_DMPINT_1_BIT`
`private static int`	`MPU6050_DMPINT_2_BIT`
`private static int`	`MPU6050_DMPINT_3_BIT`
`private static int`	`MPU6050_DMPINT_4_BIT`
`private static int`	`MPU6050_DMPINT_5_BIT`
`private static int`	`MPU6050_GCONFIG_FS_SEL_BIT`
`private static int`	`MPU6050_GCONFIG_FS_SEL_LENGTH`
`private static int`	`MPU6050_I2C_MST_CLK_BIT`
`private static int`	`MPU6050_I2C_MST_CLK_LENGTH`
`private static int`	`MPU6050_I2C_MST_P_NSR_BIT`
`private static int`	`MPU6050_I2C_SLV_ADDR_BIT`
`private static int`	`MPU6050_I2C_SLV_ADDR_LENGTH`
`private static int`	`MPU6050_I2C_SLV_BYTE_SW_BIT`
`private static int`	`MPU6050_I2C_SLV_EN_BIT`
`private static int`	`MPU6050_I2C_SLV_GRP_BIT`
`private static int`	`MPU6050_I2C_SLV_LEN_BIT`
`private static int`	`MPU6050_I2C_SLV_LEN_LENGTH`
`private static int`	`MPU6050_I2C_SLV_REG_DIS_BIT`
`private static int`	`MPU6050_I2C_SLV_RW_BIT`
`private static int`	`MPU6050_I2C_SLV4_ADDR_BIT`
`private static int`	`MPU6050_I2C_SLV4_ADDR_LENGTH`
`private static int`	`MPU6050_I2C_SLV4_EN_BIT`
`private static int`	`MPU6050_I2C_SLV4_INT_EN_BIT`
`private static int`	`MPU6050_I2C_SLV4_MST_DLY_BIT`
`private static int`	`MPU6050_I2C_SLV4_MST_DLY_LENGTH`
`private static int`	`MPU6050_I2C_SLV4_REG_DIS_BIT`
`private static int`	`MPU6050_I2C_SLV4_RW_BIT`
`private static int`	`MPU6050_INTCFG_CLKOUT_EN_BIT`
`private static int`	`MPU6050_INTCFG_FSYNC_INT_EN_BIT`
`private static int`	`MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT`
`private static int`	`MPU6050_INTCFG_I2C_BYPASS_EN_BIT`
`private static int`	`MPU6050_INTCFG_INT_LEVEL_BIT`
`private static int`	`MPU6050_INTCFG_INT_OPEN_BIT`
`private static int`	`MPU6050_INTCFG_INT_RD_CLEAR_BIT`
`private static int`	`MPU6050_INTCFG_LATCH_INT_EN_BIT`
`private static byte`	`MPU6050_INTCLEAR_ANYREAD`
`private static byte`	`MPU6050_INTCLEAR_STATUSREAD`
`private static byte`	`MPU6050_INTDRV_OPENDRAIN`
`private static byte`	`MPU6050_INTDRV_PUSHPULL`
`private static int`	`MPU6050_INTERRUPT_DATA_RDY_BIT`
`private static int`	`MPU6050_INTERRUPT_DMP_INT_BIT`
`private static int`	`MPU6050_INTERRUPT_FF_BIT`
`private static int`	`MPU6050_INTERRUPT_FIFO_OFLOW_BIT`
`private static int`	`MPU6050_INTERRUPT_I2C_MST_INT_BIT`
`private static int`	`MPU6050_INTERRUPT_MOT_BIT`
`private static int`	`MPU6050_INTERRUPT_PLL_RDY_INT_BIT`
`private static int`	`MPU6050_INTERRUPT_ZMOT_BIT`
`private static byte`	`MPU6050_INTLATCH_50USPULSE`
`private static byte`	`MPU6050_INTLATCH_WAITCLEAR`
`private static byte`	`MPU6050_INTMODE_ACTIVEHIGH`
`private static byte`	`MPU6050_INTMODE_ACTIVELOW`
`private static int`	`MPU6050_MOTION_MOT_XNEG_BIT`
`private static int`	`MPU6050_MOTION_MOT_XPOS_BIT`
`private static int`	`MPU6050_MOTION_MOT_YNEG_BIT`
`private static int`	`MPU6050_MOTION_MOT_YPOS_BIT`
`private static int`	`MPU6050_MOTION_MOT_ZNEG_BIT`
`private static int`	`MPU6050_MOTION_MOT_ZPOS_BIT`
`private static int`	`MPU6050_MOTION_MOT_ZRMOT_BIT`
`private static int`	`MPU6050_MST_I2C_LOST_ARB_BIT`
`private static int`	`MPU6050_MST_I2C_SLV0_NACK_BIT`
`private static int`	`MPU6050_MST_I2C_SLV1_NACK_BIT`
`private static int`	`MPU6050_MST_I2C_SLV2_NACK_BIT`
`private static int`	`MPU6050_MST_I2C_SLV3_NACK_BIT`
`private static int`	`MPU6050_MST_I2C_SLV4_DONE_BIT`
`private static int`	`MPU6050_MST_I2C_SLV4_NACK_BIT`
`private static int`	`MPU6050_MST_PASS_THROUGH_BIT`
`private static int`	`MPU6050_MULT_MST_EN_BIT`
`private static int`	`MPU6050_PATHRESET_ACCEL_RESET_BIT`
`private static int`	`MPU6050_PATHRESET_GYRO_RESET_BIT`
`private static int`	`MPU6050_PATHRESET_TEMP_RESET_BIT`
`private static int`	`MPU6050_PWR1_CLKSEL_BIT`
`private static int`	`MPU6050_PWR1_CLKSEL_LENGTH`
`private static int`	`MPU6050_PWR1_CYCLE_BIT`
`private static int`	`MPU6050_PWR1_DEVICE_RESET_BIT`
`private static int`	`MPU6050_PWR1_SLEEP_BIT`
`private static int`	`MPU6050_PWR1_TEMP_DIS_BIT`
`private static int`	`MPU6050_PWR2_LP_WAKE_CTRL_BIT`
`private static int`	`MPU6050_PWR2_LP_WAKE_CTRL_LENGTH`
`private static int`	`MPU6050_PWR2_STBY_XA_BIT`
`private static int`	`MPU6050_PWR2_STBY_XG_BIT`
`private static int`	`MPU6050_PWR2_STBY_YA_BIT`
`private static int`	`MPU6050_PWR2_STBY_YG_BIT`
`private static int`	`MPU6050_PWR2_STBY_ZA_BIT`
`private static int`	`MPU6050_PWR2_STBY_ZG_BIT`
`private static byte`	`MPU6050_RA_ACCEL_CONFIG`
`private static byte`	`MPU6050_RA_ACCEL_XOUT_H`
`private static byte`	`MPU6050_RA_ACCEL_XOUT_L`
`private static byte`	`MPU6050_RA_ACCEL_YOUT_H`
`private static byte`	`MPU6050_RA_ACCEL_YOUT_L`
`private static byte`	`MPU6050_RA_ACCEL_ZOUT_H`
`private static byte`	`MPU6050_RA_ACCEL_ZOUT_L`
`private static byte`	`MPU6050_RA_BANK_SEL`
`private static byte`	`MPU6050_RA_CONFIG`
`private static byte`	`MPU6050_RA_DMP_CFG_1`
`private static byte`	`MPU6050_RA_DMP_CFG_2`
`private static byte`	`MPU6050_RA_DMP_INT_STATUS`
`private static byte`	`MPU6050_RA_EXT_SENS_DATA_00`
`private static byte`	`MPU6050_RA_EXT_SENS_DATA_01`
`private static byte`	`MPU6050_RA_EXT_SENS_DATA_02`
`private static byte`	`MPU6050_RA_EXT_SENS_DATA_03`
`private static byte`	`MPU6050_RA_EXT_SENS_DATA_04`
`private static byte`	`MPU6050_RA_EXT_SENS_DATA_05`
`private static byte`	`MPU6050_RA_EXT_SENS_DATA_06`
`private static byte`	`MPU6050_RA_EXT_SENS_DATA_07`
`private static byte`	`MPU6050_RA_EXT_SENS_DATA_08`
`private static byte`	`MPU6050_RA_EXT_SENS_DATA_09`
`private static byte`	`MPU6050_RA_EXT_SENS_DATA_10`
`private static byte`	`MPU6050_RA_EXT_SENS_DATA_11`
`private static byte`	`MPU6050_RA_EXT_SENS_DATA_12`
`private static byte`	`MPU6050_RA_EXT_SENS_DATA_13`
`private static byte`	`MPU6050_RA_EXT_SENS_DATA_14`
`private static byte`	`MPU6050_RA_EXT_SENS_DATA_15`
`private static byte`	`MPU6050_RA_EXT_SENS_DATA_16`
`private static byte`	`MPU6050_RA_EXT_SENS_DATA_17`
`private static byte`	`MPU6050_RA_EXT_SENS_DATA_18`
`private static byte`	`MPU6050_RA_EXT_SENS_DATA_19`
`private static byte`	`MPU6050_RA_EXT_SENS_DATA_20`
`private static byte`	`MPU6050_RA_EXT_SENS_DATA_21`
`private static byte`	`MPU6050_RA_EXT_SENS_DATA_22`
`private static byte`	`MPU6050_RA_EXT_SENS_DATA_23`
`private static byte`	`MPU6050_RA_FF_DUR`
`private static byte`	`MPU6050_RA_FF_THR`
`private static byte`	`MPU6050_RA_FIFO_COUNTH`
`private static byte`	`MPU6050_RA_FIFO_COUNTL`
`private static byte`	`MPU6050_RA_FIFO_EN`
`private static byte`	`MPU6050_RA_FIFO_R_W`
`private static byte`	`MPU6050_RA_GYRO_CONFIG`
`private static byte`	`MPU6050_RA_GYRO_XOUT_H`
`private static byte`	`MPU6050_RA_GYRO_XOUT_L`
`private static byte`	`MPU6050_RA_GYRO_YOUT_H`
`private static byte`	`MPU6050_RA_GYRO_YOUT_L`
`private static byte`	`MPU6050_RA_GYRO_ZOUT_H`
`private static byte`	`MPU6050_RA_GYRO_ZOUT_L`
`private static byte`	`MPU6050_RA_I2C_MST_CTRL`
`private static byte`	`MPU6050_RA_I2C_MST_DELAY_CTRL`
`private static byte`	`MPU6050_RA_I2C_MST_STATUS`
`private static byte`	`MPU6050_RA_I2C_SLV0_ADDR`
`private static byte`	`MPU6050_RA_I2C_SLV0_CTRL`
`private static byte`	`MPU6050_RA_I2C_SLV0_DO`
`private static byte`	`MPU6050_RA_I2C_SLV0_REG`
`private static byte`	`MPU6050_RA_I2C_SLV1_ADDR`
`private static byte`	`MPU6050_RA_I2C_SLV1_CTRL`
`private static byte`	`MPU6050_RA_I2C_SLV1_DO`
`private static byte`	`MPU6050_RA_I2C_SLV1_REG`
`private static byte`	`MPU6050_RA_I2C_SLV2_ADDR`
`private static byte`	`MPU6050_RA_I2C_SLV2_CTRL`
`private static byte`	`MPU6050_RA_I2C_SLV2_DO`
`private static byte`	`MPU6050_RA_I2C_SLV2_REG`
`private static byte`	`MPU6050_RA_I2C_SLV3_ADDR`
`private static byte`	`MPU6050_RA_I2C_SLV3_CTRL`
`private static byte`	`MPU6050_RA_I2C_SLV3_DO`
`private static byte`	`MPU6050_RA_I2C_SLV3_REG`
`private static byte`	`MPU6050_RA_I2C_SLV4_ADDR`
`private static byte`	`MPU6050_RA_I2C_SLV4_CTRL`
`private static byte`	`MPU6050_RA_I2C_SLV4_DI`
`private static byte`	`MPU6050_RA_I2C_SLV4_DO`
`private static byte`	`MPU6050_RA_I2C_SLV4_REG`
`private static byte`	`MPU6050_RA_INT_ENABLE`
`private static byte`	`MPU6050_RA_INT_PIN_CFG`
`private static byte`	`MPU6050_RA_INT_STATUS`
`private static byte`	`MPU6050_RA_MEM_R_W`
`private static byte`	`MPU6050_RA_MEM_START_ADDR`
`private static byte`	`MPU6050_RA_MOT_DETECT_CTRL`
`private static byte`	`MPU6050_RA_MOT_DETECT_STATUS`
`private static byte`	`MPU6050_RA_MOT_DUR`
`private static byte`	`MPU6050_RA_MOT_THR`
`private static byte`	`MPU6050_RA_PWR_MGMT_1`
`private static byte`	`MPU6050_RA_PWR_MGMT_2`
`private static byte`	`MPU6050_RA_SIGNAL_PATH_RESET`
`private static byte`	`MPU6050_RA_SMPLRT_DIV`
`private static byte`	`MPU6050_RA_TEMP_OUT_H`
`private static byte`	`MPU6050_RA_TEMP_OUT_L`
`private static byte`	`MPU6050_RA_USER_CTRL`
`private static byte`	`MPU6050_RA_WHO_AM_I`
`private static byte`	`MPU6050_RA_X_FINE_GAIN`
`private static byte`	`MPU6050_RA_XA_OFFS_H`
`private static byte`	`MPU6050_RA_XA_OFFS_L_TC`
`private static byte`	`MPU6050_RA_XG_OFFS_TC`
`private static byte`	`MPU6050_RA_XG_OFFS_USRH`
`private static byte`	`MPU6050_RA_XG_OFFS_USRL`
`private static byte`	`MPU6050_RA_Y_FINE_GAIN`
`private static byte`	`MPU6050_RA_YA_OFFS_H`
`private static byte`	`MPU6050_RA_YA_OFFS_L_TC`
`private static byte`	`MPU6050_RA_YG_OFFS_TC`
`private static byte`	`MPU6050_RA_YG_OFFS_USRH`
`private static byte`	`MPU6050_RA_YG_OFFS_USRL`
`private static byte`	`MPU6050_RA_Z_FINE_GAIN`
`private static byte`	`MPU6050_RA_ZA_OFFS_H`
`private static byte`	`MPU6050_RA_ZA_OFFS_L_TC`
`private static byte`	`MPU6050_RA_ZG_OFFS_TC`
`private static byte`	`MPU6050_RA_ZG_OFFS_USRH`
`private static byte`	`MPU6050_RA_ZG_OFFS_USRL`
`private static byte`	`MPU6050_RA_ZRMOT_DUR`
`private static byte`	`MPU6050_RA_ZRMOT_THR`
`private static int`	`MPU6050_SLV_3_FIFO_EN_BIT`
`private static int`	`MPU6050_SLV0_FIFO_EN_BIT`
`private static int`	`MPU6050_SLV1_FIFO_EN_BIT`
`private static int`	`MPU6050_SLV2_FIFO_EN_BIT`
`private static int`	`MPU6050_TC_OFFSET_BIT`
`private static int`	`MPU6050_TC_OFFSET_LENGTH`
`private static int`	`MPU6050_TC_OTP_BNK_VLD_BIT`
`private static int`	`MPU6050_TC_PWR_MODE_BIT`
`private static int`	`MPU6050_TEMP_FIFO_EN_BIT`
`private static int`	`MPU6050_USERCTRL_DMP_EN_BIT`
`private static int`	`MPU6050_USERCTRL_DMP_RESET_BIT`
`private static int`	`MPU6050_USERCTRL_FIFO_EN_BIT`
`private static int`	`MPU6050_USERCTRL_FIFO_RESET_BIT`
`private static int`	`MPU6050_USERCTRL_I2C_IF_DIS_BIT`
`private static int`	`MPU6050_USERCTRL_I2C_MST_EN_BIT`
`private static int`	`MPU6050_USERCTRL_I2C_MST_RESET_BIT`
`private static int`	`MPU6050_USERCTRL_SIG_COND_RESET_BIT`
`private static int`	`MPU6050_VDDIO_LEVEL_VDD`
`private static int`	`MPU6050_VDDIO_LEVEL_VLOGIC`
`private static int`	`MPU6050_WAIT_FOR_ES_BIT`
`private static byte`	`MPU6050_WAKE_FREQ_10`
`private static byte`	`MPU6050_WAKE_FREQ_1P25`
`private static byte`	`MPU6050_WAKE_FREQ_2P5`
`private static byte`	`MPU6050_WAKE_FREQ_5`
`private static int`	`MPU6050_WHO_AM_I_BIT`
`private static int`	`MPU6050_WHO_AM_I_LENGTH`
`private static int`	`MPU6050_XG_FIFO_EN_BIT`
`private static int`	`MPU6050_YG_FIFO_EN_BIT`
`private static int`	`MPU6050_ZG_FIFO_EN_BIT`

Fields inherited from class io.github.robolib.module.iface.I2C
m_address, m_port

Fields inherited from class io.github.robolib.module.iface.Interface
m_ifaceType, MAX_ANALOG_IN_CHANNELS, MAX_ANALOG_OUT_CHANNELS, MAX_DIGITAL_CHANNELS, MAX_PWM_CHANNELS, MAX_RELAY_CHANNELS

Constructor Summary

Constructors
Constructor and Description

MPU6050(I2C.Port port)
Default constructor, uses default I2C address.

MPU6050(I2C.Port port, byte addr)
Specific address constructor.

Constructors
Constructor and Description
`MPU6050(I2C.Port port)` Default constructor, uses default I2C address.
`MPU6050(I2C.Port port, byte addr)` Specific address constructor.

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`byte`	`dmpGetAccel(int[] data, byte[] packet)`
`byte`	`dmpGetAccel(short[] data, byte[] packet)`
`byte`	`dmpGetAccel(VectorInt16 v, byte[] packet)`
`byte`	`dmpGetEuler(double[] data, Quaternion q)`
`short`	`dmpGetFIFOPacketSize()`
`byte`	`dmpGetGravity(VectorDouble v, Quaternion q)`
`byte`	`dmpGetGyro(int[] data, byte[] packet)`
`byte`	`dmpGetGyro(short[] data, byte[] packet)`
`byte`	`dmpGetGyro(VectorInt16 v, byte[] packet)`
`byte`	`dmpGetLinearAccel(VectorInt16 v, VectorInt16 vRaw, VectorDouble gravity)`
`byte`	`dmpGetLinearAccelInWorld(VectorInt16 v, VectorInt16 vReal, Quaternion q)`
`byte`	`dmpGetQuaternion(int[] data, byte[] packet)`
`byte`	`dmpGetQuaternion(Quaternion q, byte[] packet)`
`byte`	`dmpGetQuaternion(short[] data, byte[] packet)`
`byte`	`dmpGetYawPitchRoll(double[] data, Quaternion q, VectorDouble gravity)`
`byte`	`dmpInitialize()`
`(package private) boolean`	`dmpPacketAvailable()`
`byte`	`dmpProcessFIFOPacket(byte[] dmpData)`
`byte`	`dmpReadAndProcessFIFOPacket(byte numPackets, byte processed)`
`double[]`	`getAcceleration()` Get 3-axis accelerometer readings.
`double`	`getAccelerationX()` Get X-axis accelerometer reading.
`double`	`getAccelerationY()` Get Y-axis accelerometer reading.
`double`	`getAccelerationZ()` Get Z-axis accelerometer reading.
`byte`	`getAccelerometerPowerOnDelay()` Get accelerometer power-on delay.
`boolean`	`getAccelFIFOEnabled()` Get accelerometer FIFO enabled value.
`IAccelerometer.AccelRange`	`getAccelRange()`
`boolean`	`getAccelXSelfTest()` Get self-test enabled setting for accelerometer X axis.
`boolean`	`getAccelYSelfTest()` Get self-test enabled value for accelerometer Y axis.
`boolean`	`getAccelZSelfTest()` Get self-test enabled value for accelerometer Z axis.
`byte`	`getAuxVDDIOLevel()` Get the auxiliary I2C supply voltage level.
`boolean`	`getClockOutputEnabled()` Get reference clock output enabled status.
`MPU6050.GyroClockSource`	`getClockSource()` Get clock source setting.
`byte`	`getDeviceID()` Get Device ID.
`MPU6050.DHPFilterMode`	`getDHPFMode()` Get the high-pass filter configuration.
`MPU6050.DLPFilterMode`	`getDLPFMode()` Get digital low-pass filter configuration.
`byte`	`getDMPConfig1()`
`byte`	`getDMPConfig2()`
`boolean`	`getDMPEnabled()`
`boolean`	`getDMPInt0Status()`
`boolean`	`getDMPInt1Status()`
`boolean`	`getDMPInt2Status()`
`boolean`	`getDMPInt3Status()`
`boolean`	`getDMPInt4Status()`
`boolean`	`getDMPInt5Status()`
`MPU6050.EXTFrameSyncBitLocation`	`getExternalFrameSync()` Get external FSYNC configuration.
`byte`	`getExternalSensorByte(int position)` Read single byte from external sensor data register.
`int`	`getExternalSensorDWord(int position)` Read double word (4 bytes) from external sensor data registers.
`short`	`getExternalSensorWord(int position)` Read word (2 bytes) from external sensor data registers.
`boolean`	`getExternalShadowDelayEnabled()` Get external data shadow delay enabled status.
`byte`	`getFIFOByte()` Get byte from FIFO buffer.
`void`	`getFIFOBytes(byte[] data, short length)`
`short`	`getFIFOCount()` Get current FIFO buffer size.
`boolean`	`getFIFOEnabled()` Get FIFO enabled status.
`byte`	`getFreefallDetectionCounterDecrement()` Get Free Fall detection counter decrement configuration.
`byte`	`getFreefallDetectionDuration()` Get free-fall event duration threshold.
`byte`	`getFreefallDetectionThreshold()` Get free-fall event acceleration threshold.
`boolean`	`getFSyncInterruptEnabled()` Get FSYNC pin interrupt enabled setting.
`boolean`	`getFSyncInterruptLevel()` Get FSYNC interrupt logic level mode.
`IAccelerometer.AccelRange`	`getFullScaleAccelRange()` Get full-scale accelerometer range.
`MPU6050.GyroRange`	`getFullScaleGyroRange()` Get full-scale gyroscope range.
`boolean`	`getI2CBypassEnabled()` Get I2C bypass enabled status.
`boolean`	`getI2CMasterModeEnabled()` Get I2C Master Mode enabled status.
`boolean`	`getIntDataReadyEnabled()` Get Data Ready interrupt enabled setting.
`boolean`	`getIntDataReadyStatus()` Get Data Ready interrupt status.
`boolean`	`getIntDMPEnabled()`
`boolean`	`getIntDMPStatus()`
`byte`	`getIntEnabled()` Get full interrupt enabled status.
`boolean`	`getInterruptDrive()` Get interrupt drive mode.
`boolean`	`getInterruptLatch()` Get interrupt latch mode.
`boolean`	`getInterruptLatchClear()` Get interrupt latch clear mode.
`boolean`	`getInterruptMode()` Get interrupt logic level mode.
`boolean`	`getIntFIFOBufferOverflowEnabled()` Get FIFO Buffer Overflow interrupt enabled status.
`boolean`	`getIntFIFOBufferOverflowStatus()` Get FIFO Buffer Overflow interrupt status.
`boolean`	`getIntFreefallEnabled()` Get Free Fall interrupt enabled status.
`boolean`	`getIntFreefallStatus()` Get Free Fall interrupt status.
`boolean`	`getIntI2CMasterEnabled()` Get I2C Master interrupt enabled status.
`boolean`	`getIntI2CMasterStatus()` Get I2C Master interrupt status.
`boolean`	`getIntMotionEnabled()` Get Motion Detection interrupt enabled status.
`boolean`	`getIntMotionStatus()` Get Motion Detection interrupt status.
`boolean`	`getIntPLLReadyEnabled()`
`boolean`	`getIntPLLReadyStatus()`
`byte`	`getIntStatus()` Get full set of interrupt status bits.
`boolean`	`getIntZeroMotionEnabled()` Get Zero Motion Detection interrupt enabled status.
`boolean`	`getIntZeroMotionStatus()` Get Zero Motion Detection interrupt status.
`boolean`	`getLostArbitration()` Get master arbitration lost status.
`MPU6050.ClockSpeed`	`getMasterClockSpeed()` Get I2C master clock speed.
`short[]`	`getMotion6()` Get raw 6-axis motion sensor readings (accel/gyro).
`short[]`	`getMotion9()` Get raw 9-axis motion sensor readings (accel/gyro/compass).
`byte`	`getMotionDetectionCounterDecrement()` Get Motion detection counter decrement configuration.
`byte`	`getMotionDetectionDuration()` Get motion detection event duration threshold.
`byte`	`getMotionDetectionThreshold()` Get motion detection event acceleration threshold.
`boolean`	`getMultiMasterEnabled()` Get multi-master enabled value.
`byte`	`getOTPBankValid()`
`boolean`	`getPassthroughStatus()` Get FSYNC interrupt status.
`byte`	`getRate()` Get gyroscope output rate divider.
`double[]`	`getRotation()` Get 3-axis gyroscope readings.
`short`	`getRotationX()` Get X-axis gyroscope reading.
`short`	`getRotationY()` Get Y-axis gyroscope reading.
`short`	`getRotationZ()` Get Z-axis gyroscope reading.
`byte`	`getSlate4InputByte()` Get last available byte read from Slave 4.
`boolean`	`getSlave0FIFOEnabled()` Get Slave 0 FIFO enabled value.
`boolean`	`getSlave0Nack()` Get Slave 0 NACK status.
`boolean`	`getSlave1FIFOEnabled()` Get Slave 1 FIFO enabled value.
`boolean`	`getSlave1Nack()` Get Slave 1 NACK status.
`boolean`	`getSlave2FIFOEnabled()` Get Slave 2 FIFO enabled value.
`boolean`	`getSlave2Nack()` Get Slave 2 NACK status.
`boolean`	`getSlave3FIFOEnabled()` Get Slave 3 FIFO enabled value.
`boolean`	`getSlave3Nack()` Get Slave 3 NACK status.
`byte`	`getSlave4Address()` Get the I2C address of Slave 4.
`boolean`	`getSlave4Enabled()` Get the enabled value for the Slave 4.
`boolean`	`getSlave4InterruptEnabled()` Get the enabled value for Slave 4 transaction interrupts.
`boolean`	`getSlave4IsDone()` Get Slave 4 transaction done status.
`byte`	`getSlave4MasterDelay()` Get Slave 4 master delay value.
`boolean`	`getSlave4Nack()` Get Slave 4 NACK status.
`byte`	`getSlave4Register()` Get the active internal register for the Slave 4.
`boolean`	`getSlave4WriteMode()` Get write mode for Slave 4.
`byte`	`getSlaveAddress(byte num)` Get the I2C address of the specified slave (0-3).
`byte`	`getSlaveDataLength(byte num)` Get number of bytes to read for the specified slave (0-3).
`boolean`	`getSlaveDelayEnabled(byte num)` Get slave delay enabled status.
`boolean`	`getSlaveEnabled(byte num)` Get the enabled value for the specified slave (0-3).
`boolean`	`getSlaveReadWriteTransitionEnabled()` Get slave read/write transition enabled value.
`byte`	`getSlaveRegister(byte num)` Get the active internal register for the specified slave (0-3).
`boolean`	`getSlaveWordByteSwap(byte num)` Get word pair byte-swapping enabled for the specified slave (0-3).
`boolean`	`getSlaveWordGroupOffset(byte num)` Get word pair grouping order offset for the specified slave (0-3).
`boolean`	`getSlaveWriteMode(byte num)` Get write mode for the specified slave (0-3).
`boolean`	`getSleepEnabled()` Get sleep mode status.
`boolean`	`getStandbyXAccelEnabled()` Get X-axis accelerometer standby enabled status.
`boolean`	`getStandbyXGyroEnabled()` Get X-axis gyroscope standby enabled status.
`boolean`	`getStandbyYAccelEnabled()` Get Y-axis accelerometer standby enabled status.
`boolean`	`getStandbyYGyroEnabled()` Get Y-axis gyroscope standby enabled status.
`boolean`	`getStandbyZAccelEnabled()` Get Z-axis accelerometer standby enabled status.
`boolean`	`getStandbyZGyroEnabled()` Get Z-axis gyroscope standby enabled status.
`double`	`getTemperature()` Get current internal temperature.
`boolean`	`getTempFIFOEnabled()` Get temperature FIFO enabled value.
`boolean`	`getTempSensorEnabled()` Get temperature sensor enabled status.
`boolean`	`getWaitForExternalSensorEnabled()` Get wait-for-external-sensor-data enabled value.
`boolean`	`getWakeCycleEnabled()` Get wake cycle enabled status.
`byte`	`getWakeFrequency()` Get wake frequency in Accel-Only Low Power Mode.
`short`	`getXAccelOffset()`
`byte`	`getXFineGain()`
`boolean`	`getXGyroFIFOEnabled()` Get gyroscope X-axis FIFO enabled value.
`short`	`getXGyroOffset()`
`byte`	`getXGyroOffsetTC()`
`boolean`	`getXNegMotionDetected()` Get X-axis negative motion detection interrupt status.
`boolean`	`getXPosMotionDetected()` Get X-axis positive motion detection interrupt status.
`short`	`getYAccelOffset()`
`byte`	`getYFineGain()`
`boolean`	`getYGyroFIFOEnabled()` Get gyroscope Y-axis FIFO enabled value.
`short`	`getYGyroOffset()`
`byte`	`getYGyroOffsetTC()`
`boolean`	`getYNegMotionDetected()` Get Y-axis negative motion detection interrupt status.
`boolean`	`getYPosMotionDetected()` Get Y-axis positive motion detection interrupt status.
`short`	`getZAccelOffset()`
`boolean`	`getZeroMotionDetected()` Get zero motion detection interrupt status.
`byte`	`getZeroMotionDetectionDuration()` Get zero motion detection event duration threshold.
`byte`	`getZeroMotionDetectionThreshold()` Get zero motion detection event acceleration threshold.
`byte`	`getZFineGain()`
`boolean`	`getZGyroFIFOEnabled()` Get gyroscope Z-axis FIFO enabled value.
`short`	`getZGyroOffset()`
`byte`	`getZGyroOffsetTC()`
`boolean`	`getZNegMotionDetected()` Get Z-axis negative motion detection interrupt status.
`boolean`	`getZPosMotionDetected()` Get Z-axis positive motion detection interrupt status.
`void`	`initialize()` Power on and prepare for general usage.
`void`	`readMemoryBlock(byte[] data, short dataSize, byte bank, byte address)`
`byte`	`readMemoryByte()`
`void`	`reset()` Trigger a full device reset.
`void`	`resetAccelerometerPath()` Reset accelerometer signal path.
`void`	`resetDMP()`
`void`	`resetFIFO()` Reset the FIFO.
`void`	`resetGyroscopePath()` Reset gyroscope signal path.
`void`	`resetI2CMaster()` Reset the I2C Master.
`void`	`resetSensors()` Reset all sensor registers and signal paths.
`void`	`resetTemperaturePath()` Reset temperature sensor signal path.
`void`	`setAccelerometerPowerOnDelay(byte delay)` Set accelerometer power-on delay.
`void`	`setAccelFIFOEnabled(boolean enabled)` Set accelerometer FIFO enabled value.
`void`	`setAccelRange(IAccelerometer.AccelRange range)`
`void`	`setAccelXSelfTest(boolean enabled)` Get self-test enabled setting for accelerometer X axis.
`void`	`setAccelYSelfTest(boolean enabled)` Get self-test enabled value for accelerometer Y axis.
`void`	`setAccelZSelfTest(boolean enabled)` Set self-test enabled value for accelerometer Z axis.
`void`	`setAuxVDDIOLevel(byte level)` Set the auxiliary I2C supply voltage level.
`void`	`setClockOutputEnabled(boolean enabled)` Set reference clock output enabled status.
`void`	`setClockSource(MPU6050.GyroClockSource source)` Set clock source setting.
`void`	`setDeviceID(byte id)` Set Device ID.
`void`	`setDHPFMode(MPU6050.DHPFilterMode bandwidth)` Set the high-pass filter configuration.
`void`	`setDLPFMode(MPU6050.DLPFilterMode mode)` Set digital low-pass filter configuration.
`void`	`setDMPConfig1(byte config)`
`void`	`setDMPConfig2(byte config)`
`void`	`setDMPEnabled(boolean enabled)` Enable the Digital Motion Processor (DMP/DMPU)
`void`	`setExternalFrameSync(MPU6050.EXTFrameSyncBitLocation sync)` Set external FSYNC configuration.
`void`	`setExternalShadowDelayEnabled(boolean enabled)` Set external data shadow delay enabled status.
`void`	`setFIFOByte(byte data)` Write byte to FIFO buffer.
`void`	`setFIFOEnabled(boolean enabled)` Set FIFO enabled status.
`void`	`setFreefallDetectionCounterDecrement(byte decrement)` Set Free Fall detection counter decrement configuration.
`void`	`setFreefallDetectionDuration(byte duration)` Get free-fall event duration threshold.
`void`	`setFreefallDetectionThreshold(byte threshold)` Get free-fall event acceleration threshold.
`void`	`setFSyncInterruptEnabled(boolean enabled)` Set FSYNC pin interrupt enabled setting.
`void`	`setFSyncInterruptLevel(boolean level)` Set FSYNC interrupt logic level mode.
`void`	`setFullScaleAccelRange(IAccelerometer.AccelRange range)` Set full-scale accelerometer range.
`void`	`setFullScaleGyroRange(MPU6050.GyroRange range)` Set full-scale gyroscope range.
`void`	`setI2CBypassEnabled(boolean enabled)` Set I2C bypass enabled status.
`void`	`setI2CMasterModeEnabled(boolean enabled)` Set I2C Master Mode enabled status.
`void`	`setIntDataReadyEnabled(boolean enabled)` Set Data Ready interrupt enabled status.
`void`	`setIntDMPEnabled(boolean enabled)`
`void`	`setIntEnabled(byte enabled)` Set full interrupt enabled status.
`void`	`setInterruptDrive(boolean drive)` Set interrupt drive mode.
`void`	`setInterruptLatch(boolean latch)` Set interrupt latch mode.
`void`	`setInterruptLatchClear(boolean clear)` Set interrupt latch clear mode.
`void`	`setInterruptMode(boolean mode)` Set interrupt logic level mode.
`void`	`setIntFIFOBufferOverflowEnabled(boolean enabled)` Set FIFO Buffer Overflow interrupt enabled status.
`void`	`setIntFreefallEnabled(boolean enabled)` Set Free Fall interrupt enabled status.
`void`	`setIntI2CMasterEnabled(boolean enabled)` Set I2C Master interrupt enabled status.
`void`	`setIntMotionEnabled(boolean enabled)` Set Motion Detection interrupt enabled status.
`void`	`setIntPLLReadyEnabled(boolean enabled)`
`void`	`setIntZeroMotionEnabled(boolean enabled)` Set Zero Motion Detection interrupt enabled status.
`void`	`setMasterClockSpeed(MPU6050.ClockSpeed speed)` Set I2C master clock speed.
`void`	`setMemoryBank(byte bank)`
`void`	`setMemoryBank(byte bank, boolean prefetchEnabled, boolean userBank)`
`void`	`setMemoryStartAddress(byte address)`
`void`	`setMotionDetectionCounterDecrement(byte decrement)` Set Motion detection counter decrement configuration.
`void`	`setMotionDetectionDuration(byte duration)` Set motion detection event duration threshold.
`void`	`setMotionDetectionThreshold(byte threshold)` Set free-fall event acceleration threshold.
`void`	`setMultiMasterEnabled(boolean enabled)` Set multi-master enabled value.
`void`	`setOTPBankValid(boolean enabled)`
`void`	`setRate(byte rate)` Set gyroscope sample rate divider.
`void`	`setSlave0FIFOEnabled(boolean enabled)` Set Slave 0 FIFO enabled value.
`void`	`setSlave1FIFOEnabled(boolean enabled)` Set Slave 1 FIFO enabled value.
`void`	`setSlave2FIFOEnabled(boolean enabled)` Set Slave 2 FIFO enabled value.
`void`	`setSlave3FIFOEnabled(boolean enabled)` Set Slave 3 FIFO enabled value.
`void`	`setSlave4Address(byte address)` Set the I2C address of Slave 4.
`void`	`setSlave4Enabled(boolean enabled)` Set the enabled value for Slave 4.
`void`	`setSlave4InterruptEnabled(boolean enabled)` Set the enabled value for Slave 4 transaction interrupts.
`void`	`setSlave4MasterDelay(byte delay)` Set Slave 4 master delay value.
`void`	`setSlave4OutputByte(byte data)` Set new byte to write to Slave 4.
`void`	`setSlave4Register(byte reg)` Set the active internal register for Slave 4.
`void`	`setSlave4WriteMode(boolean mode)` Set write mode for the Slave 4.
`void`	`setSlaveAddress(byte num, byte address)` Set the I2C address of the specified slave (0-3).
`void`	`setSlaveDataLength(byte num, byte length)` Set number of bytes to read for the specified slave (0-3).
`void`	`setSlaveDelayEnabled(byte num, boolean enabled)` Set slave delay enabled status.
`void`	`setSlaveEnabled(byte num, boolean enabled)` Set the enabled value for the specified slave (0-3).
`void`	`setSlaveOutputByte(byte num, byte data)` Write byte to Data Output container for specified slave.
`void`	`setSlaveReadWriteTransitionEnabled(boolean enabled)` Set slave read/write transition enabled value.
`void`	`setSlaveRegister(byte num, byte reg)` Set the active internal register for the specified slave (0-3).
`void`	`setSlaveWordByteSwap(byte num, boolean enabled)` Set word pair byte-swapping enabled for the specified slave (0-3).
`void`	`setSlaveWordGroupOffset(byte num, boolean enabled)` Set word pair grouping order offset for the specified slave (0-3).
`void`	`setSlaveWriteMode(byte num, boolean mode)` Set write mode for the specified slave (0-3).
`void`	`setSleepEnabled(boolean enabled)` Set sleep mode status.
`void`	`setStandbyXAccelEnabled(boolean enabled)` Set X-axis accelerometer standby enabled status.
`void`	`setStandbyXGyroEnabled(boolean enabled)` Set X-axis gyroscope standby enabled status.
`void`	`setStandbyYAccelEnabled(boolean enabled)` Set Y-axis accelerometer standby enabled status.
`void`	`setStandbyYGyroEnabled(boolean enabled)` Set Y-axis gyroscope standby enabled status.
`void`	`setStandbyZAccelEnabled(boolean enabled)` Set Z-axis accelerometer standby enabled status.
`void`	`setStandbyZGyroEnabled(boolean enabled)` Set Z-axis gyroscope standby enabled status.
`void`	`setTempFIFOEnabled(boolean enabled)` Set temperature FIFO enabled value.
`void`	`setTempSensorEnabled(boolean enabled)` Set temperature sensor enabled status.
`void`	`setWaitForExternalSensorEnabled(boolean enabled)` Set wait-for-external-sensor-data enabled value.
`void`	`setWakeCycleEnabled(boolean enabled)` Set wake cycle enabled status.
`void`	`setWakeFrequency(byte frequency)` Set wake frequency in Accel-Only Low Power Mode.
`void`	`setXAccelOffset(int offset)`
`void`	`setXFineGain(byte gain)`
`void`	`setXGyroFIFOEnabled(boolean enabled)` Set gyroscope X-axis FIFO enabled value.
`void`	`setXGyroOffset(int offset)`
`void`	`setXGyroOffsetTC(byte offset)`
`void`	`setYAccelOffset(int offset)`
`void`	`setYFineGain(byte gain)`
`void`	`setYGyroFIFOEnabled(boolean enabled)` Set gyroscope Y-axis FIFO enabled value.
`void`	`setYGyroOffset(int offset)`
`void`	`setYGyroOffsetTC(byte offset)`
`void`	`setZAccelOffset(int offset)`
`void`	`setZeroMotionDetectionDuration(byte duration)` Set zero motion detection event duration threshold.
`void`	`setZeroMotionDetectionThreshold(byte threshold)` Set zero motion detection event acceleration threshold.
`void`	`setZFineGain(byte gain)`
`void`	`setZGyroFIFOEnabled(boolean enabled)` Set gyroscope Z-axis FIFO enabled value.
`void`	`setZGyroOffset(int offset)`
`void`	`setZGyroOffsetTC(byte offset)`
`void`	`switchSPIEnabled(boolean enabled)` Switch from I2C to SPI mode (MPU-6000 only) If this is set, the primary SPI interface will be enabled in place of the disabled primary I2C interface.
`boolean`	`testConnection()` Verify the I2C connection.
`boolean`	`writeDMPConfigurationSet(byte[] data, short dataSize)`
`boolean`	`writeMemoryBlock(byte[] data, short dataSize, byte bank, byte address, boolean verify)`
`void`	`writeMemoryByte(byte data)`
`boolean`	`writeProgDMPConfigurationSet(byte[] data, short dataSize)`
`boolean`	`writeProgMemoryBlock(byte[] data, short dataSize, byte bank, byte address, boolean verify)`

Methods inherited from class io.github.robolib.module.iface.I2C
broadcast, checkAddress, free, read, readBit, readBit, readBits, readByte, readBytes, readOnly, readWord, readWords, transaction, verifySensor, write, writeBit, writeBit, writeBits, writeBulk, writeByte, writeBytes, writeWord, writeWords

Methods inherited from class io.github.robolib.module.iface.Interface
allocateMXPPin, checkAnalogInputChannel, checkAnalogOutputChannel, checkDigitalChannel, checkPWMChannel, checkRelayChannel, freeMXPPin, getInterfaceType

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - MPU6050_ADDRESS_AD0_LOW
```
private static final byte MPU6050_ADDRESS_AD0_LOW
```
    address pin low (GND), default for InvenSense evaluation board
    
    See Also:
    
    Constant Field Values
  - MPU6050_ADDRESS_AD0_HIGH
```
private static final byte MPU6050_ADDRESS_AD0_HIGH
```
    address pin high (VCC)
    
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    Constant Field Values
  - MPU6050_DEFAULT_ADDRESS
```
private static final byte MPU6050_DEFAULT_ADDRESS
```
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    Constant Field Values
  - MPU6050_RA_XG_OFFS_TC
```
private static final byte MPU6050_RA_XG_OFFS_TC
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_YG_OFFS_TC
```
private static final byte MPU6050_RA_YG_OFFS_TC
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_ZG_OFFS_TC
```
private static final byte MPU6050_RA_ZG_OFFS_TC
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_X_FINE_GAIN
```
private static final byte MPU6050_RA_X_FINE_GAIN
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_Y_FINE_GAIN
```
private static final byte MPU6050_RA_Y_FINE_GAIN
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_Z_FINE_GAIN
```
private static final byte MPU6050_RA_Z_FINE_GAIN
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_XA_OFFS_H
```
private static final byte MPU6050_RA_XA_OFFS_H
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_XA_OFFS_L_TC
```
private static final byte MPU6050_RA_XA_OFFS_L_TC
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_YA_OFFS_H
```
private static final byte MPU6050_RA_YA_OFFS_H
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_YA_OFFS_L_TC
```
private static final byte MPU6050_RA_YA_OFFS_L_TC
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_ZA_OFFS_H
```
private static final byte MPU6050_RA_ZA_OFFS_H
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_ZA_OFFS_L_TC
```
private static final byte MPU6050_RA_ZA_OFFS_L_TC
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_XG_OFFS_USRH
```
private static final byte MPU6050_RA_XG_OFFS_USRH
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_XG_OFFS_USRL
```
private static final byte MPU6050_RA_XG_OFFS_USRL
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_YG_OFFS_USRH
```
private static final byte MPU6050_RA_YG_OFFS_USRH
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_YG_OFFS_USRL
```
private static final byte MPU6050_RA_YG_OFFS_USRL
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_ZG_OFFS_USRH
```
private static final byte MPU6050_RA_ZG_OFFS_USRH
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_ZG_OFFS_USRL
```
private static final byte MPU6050_RA_ZG_OFFS_USRL
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_SMPLRT_DIV
```
private static final byte MPU6050_RA_SMPLRT_DIV
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_CONFIG
```
private static final byte MPU6050_RA_CONFIG
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_GYRO_CONFIG
```
private static final byte MPU6050_RA_GYRO_CONFIG
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_ACCEL_CONFIG
```
private static final byte MPU6050_RA_ACCEL_CONFIG
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_FF_THR
```
private static final byte MPU6050_RA_FF_THR
```
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    Constant Field Values
  - MPU6050_RA_FF_DUR
```
private static final byte MPU6050_RA_FF_DUR
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_MOT_THR
```
private static final byte MPU6050_RA_MOT_THR
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_MOT_DUR
```
private static final byte MPU6050_RA_MOT_DUR
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_ZRMOT_THR
```
private static final byte MPU6050_RA_ZRMOT_THR
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_ZRMOT_DUR
```
private static final byte MPU6050_RA_ZRMOT_DUR
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_FIFO_EN
```
private static final byte MPU6050_RA_FIFO_EN
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_I2C_MST_CTRL
```
private static final byte MPU6050_RA_I2C_MST_CTRL
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_I2C_SLV0_ADDR
```
private static final byte MPU6050_RA_I2C_SLV0_ADDR
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_I2C_SLV0_REG
```
private static final byte MPU6050_RA_I2C_SLV0_REG
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_I2C_SLV0_CTRL
```
private static final byte MPU6050_RA_I2C_SLV0_CTRL
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_I2C_SLV1_ADDR
```
private static final byte MPU6050_RA_I2C_SLV1_ADDR
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_I2C_SLV1_REG
```
private static final byte MPU6050_RA_I2C_SLV1_REG
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_I2C_SLV1_CTRL
```
private static final byte MPU6050_RA_I2C_SLV1_CTRL
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_I2C_SLV2_ADDR
```
private static final byte MPU6050_RA_I2C_SLV2_ADDR
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_I2C_SLV2_REG
```
private static final byte MPU6050_RA_I2C_SLV2_REG
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_I2C_SLV2_CTRL
```
private static final byte MPU6050_RA_I2C_SLV2_CTRL
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_I2C_SLV3_ADDR
```
private static final byte MPU6050_RA_I2C_SLV3_ADDR
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_I2C_SLV3_REG
```
private static final byte MPU6050_RA_I2C_SLV3_REG
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_I2C_SLV3_CTRL
```
private static final byte MPU6050_RA_I2C_SLV3_CTRL
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_I2C_SLV4_ADDR
```
private static final byte MPU6050_RA_I2C_SLV4_ADDR
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_I2C_SLV4_REG
```
private static final byte MPU6050_RA_I2C_SLV4_REG
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_I2C_SLV4_DO
```
private static final byte MPU6050_RA_I2C_SLV4_DO
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_I2C_SLV4_CTRL
```
private static final byte MPU6050_RA_I2C_SLV4_CTRL
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_I2C_SLV4_DI
```
private static final byte MPU6050_RA_I2C_SLV4_DI
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_I2C_MST_STATUS
```
private static final byte MPU6050_RA_I2C_MST_STATUS
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_INT_PIN_CFG
```
private static final byte MPU6050_RA_INT_PIN_CFG
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_INT_ENABLE
```
private static final byte MPU6050_RA_INT_ENABLE
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_DMP_INT_STATUS
```
private static final byte MPU6050_RA_DMP_INT_STATUS
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_INT_STATUS
```
private static final byte MPU6050_RA_INT_STATUS
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_ACCEL_XOUT_H
```
private static final byte MPU6050_RA_ACCEL_XOUT_H
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_ACCEL_XOUT_L
```
private static final byte MPU6050_RA_ACCEL_XOUT_L
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_ACCEL_YOUT_H
```
private static final byte MPU6050_RA_ACCEL_YOUT_H
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_ACCEL_YOUT_L
```
private static final byte MPU6050_RA_ACCEL_YOUT_L
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_ACCEL_ZOUT_H
```
private static final byte MPU6050_RA_ACCEL_ZOUT_H
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_ACCEL_ZOUT_L
```
private static final byte MPU6050_RA_ACCEL_ZOUT_L
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_TEMP_OUT_H
```
private static final byte MPU6050_RA_TEMP_OUT_H
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_TEMP_OUT_L
```
private static final byte MPU6050_RA_TEMP_OUT_L
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_GYRO_XOUT_H
```
private static final byte MPU6050_RA_GYRO_XOUT_H
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_GYRO_XOUT_L
```
private static final byte MPU6050_RA_GYRO_XOUT_L
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_GYRO_YOUT_H
```
private static final byte MPU6050_RA_GYRO_YOUT_H
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_GYRO_YOUT_L
```
private static final byte MPU6050_RA_GYRO_YOUT_L
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_GYRO_ZOUT_H
```
private static final byte MPU6050_RA_GYRO_ZOUT_H
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_GYRO_ZOUT_L
```
private static final byte MPU6050_RA_GYRO_ZOUT_L
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_EXT_SENS_DATA_00
```
private static final byte MPU6050_RA_EXT_SENS_DATA_00
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_EXT_SENS_DATA_01
```
private static final byte MPU6050_RA_EXT_SENS_DATA_01
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_EXT_SENS_DATA_02
```
private static final byte MPU6050_RA_EXT_SENS_DATA_02
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_EXT_SENS_DATA_03
```
private static final byte MPU6050_RA_EXT_SENS_DATA_03
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_EXT_SENS_DATA_04
```
private static final byte MPU6050_RA_EXT_SENS_DATA_04
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_EXT_SENS_DATA_05
```
private static final byte MPU6050_RA_EXT_SENS_DATA_05
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_EXT_SENS_DATA_06
```
private static final byte MPU6050_RA_EXT_SENS_DATA_06
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_EXT_SENS_DATA_07
```
private static final byte MPU6050_RA_EXT_SENS_DATA_07
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_EXT_SENS_DATA_08
```
private static final byte MPU6050_RA_EXT_SENS_DATA_08
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_EXT_SENS_DATA_09
```
private static final byte MPU6050_RA_EXT_SENS_DATA_09
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_EXT_SENS_DATA_10
```
private static final byte MPU6050_RA_EXT_SENS_DATA_10
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_EXT_SENS_DATA_11
```
private static final byte MPU6050_RA_EXT_SENS_DATA_11
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_EXT_SENS_DATA_12
```
private static final byte MPU6050_RA_EXT_SENS_DATA_12
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_EXT_SENS_DATA_13
```
private static final byte MPU6050_RA_EXT_SENS_DATA_13
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_EXT_SENS_DATA_14
```
private static final byte MPU6050_RA_EXT_SENS_DATA_14
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_EXT_SENS_DATA_15
```
private static final byte MPU6050_RA_EXT_SENS_DATA_15
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_EXT_SENS_DATA_16
```
private static final byte MPU6050_RA_EXT_SENS_DATA_16
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_EXT_SENS_DATA_17
```
private static final byte MPU6050_RA_EXT_SENS_DATA_17
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_EXT_SENS_DATA_18
```
private static final byte MPU6050_RA_EXT_SENS_DATA_18
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_EXT_SENS_DATA_19
```
private static final byte MPU6050_RA_EXT_SENS_DATA_19
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_EXT_SENS_DATA_20
```
private static final byte MPU6050_RA_EXT_SENS_DATA_20
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_EXT_SENS_DATA_21
```
private static final byte MPU6050_RA_EXT_SENS_DATA_21
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_EXT_SENS_DATA_22
```
private static final byte MPU6050_RA_EXT_SENS_DATA_22
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_EXT_SENS_DATA_23
```
private static final byte MPU6050_RA_EXT_SENS_DATA_23
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_MOT_DETECT_STATUS
```
private static final byte MPU6050_RA_MOT_DETECT_STATUS
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_I2C_SLV0_DO
```
private static final byte MPU6050_RA_I2C_SLV0_DO
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_I2C_SLV1_DO
```
private static final byte MPU6050_RA_I2C_SLV1_DO
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_I2C_SLV2_DO
```
private static final byte MPU6050_RA_I2C_SLV2_DO
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_I2C_SLV3_DO
```
private static final byte MPU6050_RA_I2C_SLV3_DO
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_I2C_MST_DELAY_CTRL
```
private static final byte MPU6050_RA_I2C_MST_DELAY_CTRL
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_SIGNAL_PATH_RESET
```
private static final byte MPU6050_RA_SIGNAL_PATH_RESET
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_MOT_DETECT_CTRL
```
private static final byte MPU6050_RA_MOT_DETECT_CTRL
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_USER_CTRL
```
private static final byte MPU6050_RA_USER_CTRL
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_PWR_MGMT_1
```
private static final byte MPU6050_RA_PWR_MGMT_1
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_PWR_MGMT_2
```
private static final byte MPU6050_RA_PWR_MGMT_2
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_BANK_SEL
```
private static final byte MPU6050_RA_BANK_SEL
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_MEM_START_ADDR
```
private static final byte MPU6050_RA_MEM_START_ADDR
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_MEM_R_W
```
private static final byte MPU6050_RA_MEM_R_W
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_DMP_CFG_1
```
private static final byte MPU6050_RA_DMP_CFG_1
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_DMP_CFG_2
```
private static final byte MPU6050_RA_DMP_CFG_2
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_FIFO_COUNTH
```
private static final byte MPU6050_RA_FIFO_COUNTH
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_FIFO_COUNTL
```
private static final byte MPU6050_RA_FIFO_COUNTL
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_FIFO_R_W
```
private static final byte MPU6050_RA_FIFO_R_W
```
    See Also:
    
    Constant Field Values
  - MPU6050_RA_WHO_AM_I
```
private static final byte MPU6050_RA_WHO_AM_I
```
    See Also:
    
    Constant Field Values
  - MPU6050_TC_PWR_MODE_BIT
```
private static final int MPU6050_TC_PWR_MODE_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_TC_OFFSET_BIT
```
private static final int MPU6050_TC_OFFSET_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_TC_OFFSET_LENGTH
```
private static final int MPU6050_TC_OFFSET_LENGTH
```
    See Also:
    
    Constant Field Values
  - MPU6050_TC_OTP_BNK_VLD_BIT
```
private static final int MPU6050_TC_OTP_BNK_VLD_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_VDDIO_LEVEL_VLOGIC
```
private static final int MPU6050_VDDIO_LEVEL_VLOGIC
```
    See Also:
    
    Constant Field Values
  - MPU6050_VDDIO_LEVEL_VDD
```
private static final int MPU6050_VDDIO_LEVEL_VDD
```
    See Also:
    
    Constant Field Values
  - MPU6050_CFG_EXT_SYNC_SET_BIT
```
private static final int MPU6050_CFG_EXT_SYNC_SET_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_CFG_EXT_SYNC_SET_LENGTH
```
private static final int MPU6050_CFG_EXT_SYNC_SET_LENGTH
```
    See Also:
    
    Constant Field Values
  - MPU6050_CFG_DLPF_CFG_BIT
```
private static final int MPU6050_CFG_DLPF_CFG_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_CFG_DLPF_CFG_LENGTH
```
private static final int MPU6050_CFG_DLPF_CFG_LENGTH
```
    See Also:
    
    Constant Field Values
  - MPU6050_GCONFIG_FS_SEL_BIT
```
private static final int MPU6050_GCONFIG_FS_SEL_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_GCONFIG_FS_SEL_LENGTH
```
private static final int MPU6050_GCONFIG_FS_SEL_LENGTH
```
    See Also:
    
    Constant Field Values
  - MPU6050_ACONFIG_XA_ST_BIT
```
private static final int MPU6050_ACONFIG_XA_ST_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_ACONFIG_YA_ST_BIT
```
private static final int MPU6050_ACONFIG_YA_ST_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_ACONFIG_ZA_ST_BIT
```
private static final int MPU6050_ACONFIG_ZA_ST_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_ACONFIG_AFS_SEL_BIT
```
private static final int MPU6050_ACONFIG_AFS_SEL_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_ACONFIG_AFS_SEL_LENGTH
```
private static final int MPU6050_ACONFIG_AFS_SEL_LENGTH
```
    See Also:
    
    Constant Field Values
  - MPU6050_ACONFIG_ACCEL_HPF_BIT
```
private static final int MPU6050_ACONFIG_ACCEL_HPF_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_ACONFIG_ACCEL_HPF_LENGTH
```
private static final int MPU6050_ACONFIG_ACCEL_HPF_LENGTH
```
    See Also:
    
    Constant Field Values
  - MPU6050_ACCEL_FS_2
```
private static final byte MPU6050_ACCEL_FS_2
```
    See Also:
    
    Constant Field Values
  - MPU6050_ACCEL_FS_4
```
private static final byte MPU6050_ACCEL_FS_4
```
    See Also:
    
    Constant Field Values
  - MPU6050_ACCEL_FS_8
```
private static final byte MPU6050_ACCEL_FS_8
```
    See Also:
    
    Constant Field Values
  - MPU6050_ACCEL_FS_16
```
private static final byte MPU6050_ACCEL_FS_16
```
    See Also:
    
    Constant Field Values
  - MPU6050_TEMP_FIFO_EN_BIT
```
private static final int MPU6050_TEMP_FIFO_EN_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_XG_FIFO_EN_BIT
```
private static final int MPU6050_XG_FIFO_EN_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_YG_FIFO_EN_BIT
```
private static final int MPU6050_YG_FIFO_EN_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_ZG_FIFO_EN_BIT
```
private static final int MPU6050_ZG_FIFO_EN_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_ACCEL_FIFO_EN_BIT
```
private static final int MPU6050_ACCEL_FIFO_EN_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_SLV2_FIFO_EN_BIT
```
private static final int MPU6050_SLV2_FIFO_EN_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_SLV1_FIFO_EN_BIT
```
private static final int MPU6050_SLV1_FIFO_EN_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_SLV0_FIFO_EN_BIT
```
private static final int MPU6050_SLV0_FIFO_EN_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_MULT_MST_EN_BIT
```
private static final int MPU6050_MULT_MST_EN_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_WAIT_FOR_ES_BIT
```
private static final int MPU6050_WAIT_FOR_ES_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_SLV_3_FIFO_EN_BIT
```
private static final int MPU6050_SLV_3_FIFO_EN_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_I2C_MST_P_NSR_BIT
```
private static final int MPU6050_I2C_MST_P_NSR_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_I2C_MST_CLK_BIT
```
private static final int MPU6050_I2C_MST_CLK_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_I2C_MST_CLK_LENGTH
```
private static final int MPU6050_I2C_MST_CLK_LENGTH
```
    See Also:
    
    Constant Field Values
  - MPU6050_I2C_SLV_RW_BIT
```
private static final int MPU6050_I2C_SLV_RW_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_I2C_SLV_ADDR_BIT
```
private static final int MPU6050_I2C_SLV_ADDR_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_I2C_SLV_ADDR_LENGTH
```
private static final int MPU6050_I2C_SLV_ADDR_LENGTH
```
    See Also:
    
    Constant Field Values
  - MPU6050_I2C_SLV_EN_BIT
```
private static final int MPU6050_I2C_SLV_EN_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_I2C_SLV_BYTE_SW_BIT
```
private static final int MPU6050_I2C_SLV_BYTE_SW_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_I2C_SLV_REG_DIS_BIT
```
private static final int MPU6050_I2C_SLV_REG_DIS_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_I2C_SLV_GRP_BIT
```
private static final int MPU6050_I2C_SLV_GRP_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_I2C_SLV_LEN_BIT
```
private static final int MPU6050_I2C_SLV_LEN_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_I2C_SLV_LEN_LENGTH
```
private static final int MPU6050_I2C_SLV_LEN_LENGTH
```
    See Also:
    
    Constant Field Values
  - MPU6050_I2C_SLV4_RW_BIT
```
private static final int MPU6050_I2C_SLV4_RW_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_I2C_SLV4_ADDR_BIT
```
private static final int MPU6050_I2C_SLV4_ADDR_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_I2C_SLV4_ADDR_LENGTH
```
private static final int MPU6050_I2C_SLV4_ADDR_LENGTH
```
    See Also:
    
    Constant Field Values
  - MPU6050_I2C_SLV4_EN_BIT
```
private static final int MPU6050_I2C_SLV4_EN_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_I2C_SLV4_INT_EN_BIT
```
private static final int MPU6050_I2C_SLV4_INT_EN_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_I2C_SLV4_REG_DIS_BIT
```
private static final int MPU6050_I2C_SLV4_REG_DIS_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_I2C_SLV4_MST_DLY_BIT
```
private static final int MPU6050_I2C_SLV4_MST_DLY_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_I2C_SLV4_MST_DLY_LENGTH
```
private static final int MPU6050_I2C_SLV4_MST_DLY_LENGTH
```
    See Also:
    
    Constant Field Values
  - MPU6050_MST_PASS_THROUGH_BIT
```
private static final int MPU6050_MST_PASS_THROUGH_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_MST_I2C_SLV4_DONE_BIT
```
private static final int MPU6050_MST_I2C_SLV4_DONE_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_MST_I2C_LOST_ARB_BIT
```
private static final int MPU6050_MST_I2C_LOST_ARB_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_MST_I2C_SLV4_NACK_BIT
```
private static final int MPU6050_MST_I2C_SLV4_NACK_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_MST_I2C_SLV3_NACK_BIT
```
private static final int MPU6050_MST_I2C_SLV3_NACK_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_MST_I2C_SLV2_NACK_BIT
```
private static final int MPU6050_MST_I2C_SLV2_NACK_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_MST_I2C_SLV1_NACK_BIT
```
private static final int MPU6050_MST_I2C_SLV1_NACK_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_MST_I2C_SLV0_NACK_BIT
```
private static final int MPU6050_MST_I2C_SLV0_NACK_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_INTCFG_INT_LEVEL_BIT
```
private static final int MPU6050_INTCFG_INT_LEVEL_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_INTCFG_INT_OPEN_BIT
```
private static final int MPU6050_INTCFG_INT_OPEN_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_INTCFG_LATCH_INT_EN_BIT
```
private static final int MPU6050_INTCFG_LATCH_INT_EN_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_INTCFG_INT_RD_CLEAR_BIT
```
private static final int MPU6050_INTCFG_INT_RD_CLEAR_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
```
private static final int MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_INTCFG_FSYNC_INT_EN_BIT
```
private static final int MPU6050_INTCFG_FSYNC_INT_EN_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_INTCFG_I2C_BYPASS_EN_BIT
```
private static final int MPU6050_INTCFG_I2C_BYPASS_EN_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_INTCFG_CLKOUT_EN_BIT
```
private static final int MPU6050_INTCFG_CLKOUT_EN_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_INTMODE_ACTIVEHIGH
```
private static final byte MPU6050_INTMODE_ACTIVEHIGH
```
    See Also:
    
    Constant Field Values
  - MPU6050_INTMODE_ACTIVELOW
```
private static final byte MPU6050_INTMODE_ACTIVELOW
```
    See Also:
    
    Constant Field Values
  - MPU6050_INTDRV_PUSHPULL
```
private static final byte MPU6050_INTDRV_PUSHPULL
```
    See Also:
    
    Constant Field Values
  - MPU6050_INTDRV_OPENDRAIN
```
private static final byte MPU6050_INTDRV_OPENDRAIN
```
    See Also:
    
    Constant Field Values
  - MPU6050_INTLATCH_50USPULSE
```
private static final byte MPU6050_INTLATCH_50USPULSE
```
    See Also:
    
    Constant Field Values
  - MPU6050_INTLATCH_WAITCLEAR
```
private static final byte MPU6050_INTLATCH_WAITCLEAR
```
    See Also:
    
    Constant Field Values
  - MPU6050_INTCLEAR_STATUSREAD
```
private static final byte MPU6050_INTCLEAR_STATUSREAD
```
    See Also:
    
    Constant Field Values
  - MPU6050_INTCLEAR_ANYREAD
```
private static final byte MPU6050_INTCLEAR_ANYREAD
```
    See Also:
    
    Constant Field Values
  - MPU6050_INTERRUPT_FF_BIT
```
private static final int MPU6050_INTERRUPT_FF_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_INTERRUPT_MOT_BIT
```
private static final int MPU6050_INTERRUPT_MOT_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_INTERRUPT_ZMOT_BIT
```
private static final int MPU6050_INTERRUPT_ZMOT_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_INTERRUPT_FIFO_OFLOW_BIT
```
private static final int MPU6050_INTERRUPT_FIFO_OFLOW_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_INTERRUPT_I2C_MST_INT_BIT
```
private static final int MPU6050_INTERRUPT_I2C_MST_INT_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_INTERRUPT_PLL_RDY_INT_BIT
```
private static final int MPU6050_INTERRUPT_PLL_RDY_INT_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_INTERRUPT_DMP_INT_BIT
```
private static final int MPU6050_INTERRUPT_DMP_INT_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_INTERRUPT_DATA_RDY_BIT
```
private static final int MPU6050_INTERRUPT_DATA_RDY_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_DMPINT_5_BIT
```
private static final int MPU6050_DMPINT_5_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_DMPINT_4_BIT
```
private static final int MPU6050_DMPINT_4_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_DMPINT_3_BIT
```
private static final int MPU6050_DMPINT_3_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_DMPINT_2_BIT
```
private static final int MPU6050_DMPINT_2_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_DMPINT_1_BIT
```
private static final int MPU6050_DMPINT_1_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_DMPINT_0_BIT
```
private static final int MPU6050_DMPINT_0_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_MOTION_MOT_XNEG_BIT
```
private static final int MPU6050_MOTION_MOT_XNEG_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_MOTION_MOT_XPOS_BIT
```
private static final int MPU6050_MOTION_MOT_XPOS_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_MOTION_MOT_YNEG_BIT
```
private static final int MPU6050_MOTION_MOT_YNEG_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_MOTION_MOT_YPOS_BIT
```
private static final int MPU6050_MOTION_MOT_YPOS_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_MOTION_MOT_ZNEG_BIT
```
private static final int MPU6050_MOTION_MOT_ZNEG_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_MOTION_MOT_ZPOS_BIT
```
private static final int MPU6050_MOTION_MOT_ZPOS_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_MOTION_MOT_ZRMOT_BIT
```
private static final int MPU6050_MOTION_MOT_ZRMOT_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
```
private static final int MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT
```
private static final int MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT
```
private static final int MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT
```
private static final int MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT
```
private static final int MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
```
private static final int MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_PATHRESET_GYRO_RESET_BIT
```
private static final int MPU6050_PATHRESET_GYRO_RESET_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_PATHRESET_ACCEL_RESET_BIT
```
private static final int MPU6050_PATHRESET_ACCEL_RESET_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_PATHRESET_TEMP_RESET_BIT
```
private static final int MPU6050_PATHRESET_TEMP_RESET_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_DETECT_ACCEL_ON_DELAY_BIT
```
private static final int MPU6050_DETECT_ACCEL_ON_DELAY_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH
```
private static final int MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH
```
    See Also:
    
    Constant Field Values
  - MPU6050_DETECT_FF_COUNT_BIT
```
private static final int MPU6050_DETECT_FF_COUNT_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_DETECT_FF_COUNT_LENGTH
```
private static final int MPU6050_DETECT_FF_COUNT_LENGTH
```
    See Also:
    
    Constant Field Values
  - MPU6050_DETECT_MOT_COUNT_BIT
```
private static final int MPU6050_DETECT_MOT_COUNT_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_DETECT_MOT_COUNT_LENGTH
```
private static final int MPU6050_DETECT_MOT_COUNT_LENGTH
```
    See Also:
    
    Constant Field Values
  - MPU6050_DETECT_DECREMENT_RESET
```
private static final byte MPU6050_DETECT_DECREMENT_RESET
```
    See Also:
    
    Constant Field Values
  - MPU6050_DETECT_DECREMENT_1
```
private static final byte MPU6050_DETECT_DECREMENT_1
```
    See Also:
    
    Constant Field Values
  - MPU6050_DETECT_DECREMENT_2
```
private static final byte MPU6050_DETECT_DECREMENT_2
```
    See Also:
    
    Constant Field Values
  - MPU6050_DETECT_DECREMENT_4
```
private static final byte MPU6050_DETECT_DECREMENT_4
```
    See Also:
    
    Constant Field Values
  - MPU6050_USERCTRL_DMP_EN_BIT
```
private static final int MPU6050_USERCTRL_DMP_EN_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_USERCTRL_FIFO_EN_BIT
```
private static final int MPU6050_USERCTRL_FIFO_EN_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_USERCTRL_I2C_MST_EN_BIT
```
private static final int MPU6050_USERCTRL_I2C_MST_EN_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_USERCTRL_I2C_IF_DIS_BIT
```
private static final int MPU6050_USERCTRL_I2C_IF_DIS_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_USERCTRL_DMP_RESET_BIT
```
private static final int MPU6050_USERCTRL_DMP_RESET_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_USERCTRL_FIFO_RESET_BIT
```
private static final int MPU6050_USERCTRL_FIFO_RESET_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_USERCTRL_I2C_MST_RESET_BIT
```
private static final int MPU6050_USERCTRL_I2C_MST_RESET_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_USERCTRL_SIG_COND_RESET_BIT
```
private static final int MPU6050_USERCTRL_SIG_COND_RESET_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_PWR1_DEVICE_RESET_BIT
```
private static final int MPU6050_PWR1_DEVICE_RESET_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_PWR1_SLEEP_BIT
```
private static final int MPU6050_PWR1_SLEEP_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_PWR1_CYCLE_BIT
```
private static final int MPU6050_PWR1_CYCLE_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_PWR1_TEMP_DIS_BIT
```
private static final int MPU6050_PWR1_TEMP_DIS_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_PWR1_CLKSEL_BIT
```
private static final int MPU6050_PWR1_CLKSEL_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_PWR1_CLKSEL_LENGTH
```
private static final int MPU6050_PWR1_CLKSEL_LENGTH
```
    See Also:
    
    Constant Field Values
  - MPU6050_CLOCK_INTERNAL
```
private static final byte MPU6050_CLOCK_INTERNAL
```
    See Also:
    
    Constant Field Values
  - MPU6050_CLOCK_PLL_XGYRO
```
private static final byte MPU6050_CLOCK_PLL_XGYRO
```
    See Also:
    
    Constant Field Values
  - MPU6050_CLOCK_PLL_YGYRO
```
private static final byte MPU6050_CLOCK_PLL_YGYRO
```
    See Also:
    
    Constant Field Values
  - MPU6050_CLOCK_PLL_ZGYRO
```
private static final byte MPU6050_CLOCK_PLL_ZGYRO
```
    See Also:
    
    Constant Field Values
  - MPU6050_CLOCK_PLL_EXT32K
```
private static final byte MPU6050_CLOCK_PLL_EXT32K
```
    See Also:
    
    Constant Field Values
  - MPU6050_CLOCK_PLL_EXT19M
```
private static final byte MPU6050_CLOCK_PLL_EXT19M
```
    See Also:
    
    Constant Field Values
  - MPU6050_CLOCK_KEEP_RESET
```
private static final byte MPU6050_CLOCK_KEEP_RESET
```
    See Also:
    
    Constant Field Values
  - MPU6050_PWR2_LP_WAKE_CTRL_BIT
```
private static final int MPU6050_PWR2_LP_WAKE_CTRL_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_PWR2_LP_WAKE_CTRL_LENGTH
```
private static final int MPU6050_PWR2_LP_WAKE_CTRL_LENGTH
```
    See Also:
    
    Constant Field Values
  - MPU6050_PWR2_STBY_XA_BIT
```
private static final int MPU6050_PWR2_STBY_XA_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_PWR2_STBY_YA_BIT
```
private static final int MPU6050_PWR2_STBY_YA_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_PWR2_STBY_ZA_BIT
```
private static final int MPU6050_PWR2_STBY_ZA_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_PWR2_STBY_XG_BIT
```
private static final int MPU6050_PWR2_STBY_XG_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_PWR2_STBY_YG_BIT
```
private static final int MPU6050_PWR2_STBY_YG_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_PWR2_STBY_ZG_BIT
```
private static final int MPU6050_PWR2_STBY_ZG_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_WAKE_FREQ_1P25
```
private static final byte MPU6050_WAKE_FREQ_1P25
```
    See Also:
    
    Constant Field Values
  - MPU6050_WAKE_FREQ_2P5
```
private static final byte MPU6050_WAKE_FREQ_2P5
```
    See Also:
    
    Constant Field Values
  - MPU6050_WAKE_FREQ_5
```
private static final byte MPU6050_WAKE_FREQ_5
```
    See Also:
    
    Constant Field Values
  - MPU6050_WAKE_FREQ_10
```
private static final byte MPU6050_WAKE_FREQ_10
```
    See Also:
    
    Constant Field Values
  - MPU6050_BANKSEL_PRFTCH_EN_BIT
```
private static final int MPU6050_BANKSEL_PRFTCH_EN_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_BANKSEL_CFG_USER_BANK_BIT
```
private static final int MPU6050_BANKSEL_CFG_USER_BANK_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_BANKSEL_MEM_SEL_BIT
```
private static final int MPU6050_BANKSEL_MEM_SEL_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_BANKSEL_MEM_SEL_LENGTH
```
private static final int MPU6050_BANKSEL_MEM_SEL_LENGTH
```
    See Also:
    
    Constant Field Values
  - MPU6050_WHO_AM_I_BIT
```
private static final int MPU6050_WHO_AM_I_BIT
```
    See Also:
    
    Constant Field Values
  - MPU6050_WHO_AM_I_LENGTH
```
private static final int MPU6050_WHO_AM_I_LENGTH
```
    See Also:
    
    Constant Field Values
  - MPU6050_DMP_MEMORY_BANKS
```
private static final int MPU6050_DMP_MEMORY_BANKS
```
    See Also:
    
    Constant Field Values
  - MPU6050_DMP_MEMORY_BANK_SIZE
```
private static final int MPU6050_DMP_MEMORY_BANK_SIZE
```
    See Also:
    
    Constant Field Values
  - MPU6050_DMP_MEMORY_CHUNK_SIZE
```
private static final int MPU6050_DMP_MEMORY_CHUNK_SIZE
```
    See Also:
    
    Constant Field Values
  - MPU6050_DMP_CODE_SIZE
```
private static final short MPU6050_DMP_CODE_SIZE
```
    Source is from the InvenSense MotionApps v2 demo code. Original source is unavailable, unless you happen to be amazing as decompiling binary by hand (in which case, please contact me, and I'm totally serious). Also, I'd like to offer many, many thanks to Noah Zerkin for all of the DMP reverse-engineering he did to help make this bit of wizardry possible.
    
    See Also:
    
    Constant Field Values
  - MPU6050_DMP_CONFIG_SIZE
```
private static final short MPU6050_DMP_CONFIG_SIZE
```
    See Also:
    
    Constant Field Values
  - MPU6050_DMP_UPDATES_SIZE
```
private static final short MPU6050_DMP_UPDATES_SIZE
```
    See Also:
    
    Constant Field Values
  - dmpPacketBuffer
```
private byte[] dmpPacketBuffer
```
  - dmpPacketSize
```
private short dmpPacketSize
```
  - dmpMemory
```
private static final byte[] dmpMemory
```
  - dmpConfig
```
private static final byte[] dmpConfig
```
  - dmpUpdates
```
private static final byte[] dmpUpdates
```
- Constructor Detail
  - MPU6050
```
public MPU6050(I2C.Port port)
```
    Default constructor, uses default I2C address.
    
    Parameters:
    
    port - the I2C port on the RIO
    
    See Also:
    
    MPU6050_DEFAULT_ADDRESS
  - MPU6050
```
public MPU6050(I2C.Port port,
               byte addr)
```
    Specific address constructor.
    
    Parameters:
    
    port - the I2C port on the RIO
    
    addr - I2C address
    
    See Also:
    
    MPU6050_DEFAULT_ADDRESS, MPU6050_ADDRESS_AD0_LOW, MPU6050_ADDRESS_AD0_HIGH
- Method Detail
  - initialize
```
public void initialize()
```
    Power on and prepare for general usage. This will activate the device and take it out of sleep mode (which must be done after start-up). This function also sets both the accelerometer and the gyroscope to their most sensitive settings, namely +/- 2g and +/- 250 degrees/sec, and sets the clock source to use the X Gyro for reference, which is slightly better than the default internal clock source.
  - testConnection
```
public boolean testConnection()
```
    Verify the I2C connection. Make sure the device is connected and responds as expected.
    
    Returns:
    
    True if connection is valid, false otherwise
  - getAuxVDDIOLevel
```
public byte getAuxVDDIOLevel()
```
    Get the auxiliary I2C supply voltage level. When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to the MPU-6000, which does not have a VLOGIC pin.
    
    Returns:
    
    I2C supply voltage level (0=VLOGIC, 1=VDD)
  - setAuxVDDIOLevel
```
public void setAuxVDDIOLevel(byte level)
```
    Set the auxiliary I2C supply voltage level. When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to the MPU-6000, which does not have a VLOGIC pin.
    
    Parameters:
    
    level - I2C supply voltage level (0=VLOGIC, 1=VDD)
  - getRate
```
public byte getRate()
```
    Get gyroscope output rate divider. The sensor register output, FIFO output, DMP sampling, Motion detection, Zero Motion detection, and Free Fall detection are all based on the Sample Rate. The Sample Rate is generated by dividing the gyroscope output rate by SMPLRT_DIV: Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV) where Gyroscope Output Rate = 8kHz when the DLPF is disabled (DLPF_CFG = 0 or 7), and 1kHz when the DLPF is enabled (see Register 26). Note: The accelerometer output rate is 1kHz. This means that for a Sample Rate greater than 1kHz, the same accelerometer sample may be output to the FIFO, DMP, and sensor registers more than once. For a diagram of the gyroscope and accelerometer signal paths, see Section 8 of the MPU-6000/MPU-6050 Product Specification document.
    
    Returns:
    
    Current sample rate
    
    See Also:
    
    MPU6050_RA_SMPLRT_DIV
  - setRate
```
public void setRate(byte rate)
```
    Set gyroscope sample rate divider.
    
    Parameters:
    
    rate - New sample rate divider
    
    See Also:
    
    getRate(), MPU6050_RA_SMPLRT_DIV
  - getExternalFrameSync
```
public MPU6050.EXTFrameSyncBitLocation getExternalFrameSync()
```
    Get external FSYNC configuration. Configures the external Frame Synchronization (FSYNC) pin sampling. An external signal connected to the FSYNC pin can be sampled by configuring EXT_SYNC_SET. Signal changes to the FSYNC pin are latched so that short strobes may be captured. The latched FSYNC signal will be sampled at the Sampling Rate, as defined in register 25. After sampling, the latch will reset to the current FSYNC signal state. The sampled value will be reported in place of the least significant bit in a sensor data register determined by the value of EXT_SYNC_SET.
    
    Returns:
    
    FSYNC configuration value
    
    See Also:
    
    MPU6050.EXTFrameSyncBitLocation
  - setExternalFrameSync
```
public void setExternalFrameSync(MPU6050.EXTFrameSyncBitLocation sync)
```
    Set external FSYNC configuration.
    
    Parameters:
    
    sync - New FSYNC configuration value
    
    See Also:
    
    getExternalFrameSync(), MPU6050_RA_CONFIG, MPU6050.EXTFrameSyncBitLocation
  - getDLPFMode
```
public MPU6050.DLPFilterMode getDLPFMode()
```
    Get digital low-pass filter configuration. The DLPF_CFG parameter sets the digital low pass filter configuration. It also determines the internal sampling rate used by the device as shown in the table below. Note: The accelerometer output rate is 1kHz. This means that for a Sample Rate greater than 1kHz, the same accelerometer sample may be output to the FIFO, DMP, and sensor registers more than once.
    
    Returns:
    
    DLFP configuration
    
    See Also:
    
    MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, MPU6050.DLPFilterMode
  - setDLPFMode
```
public void setDLPFMode(MPU6050.DLPFilterMode mode)
```
    Set digital low-pass filter configuration.
    
    Parameters:
    
    mode - New DLFP configuration setting
    
    See Also:
    
    getDLPFMode(), MPU6050.DLPFilterMode.BW_256Hz, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, MPU6050.DLPFilterMode
  - getFullScaleGyroRange
```
public MPU6050.GyroRange getFullScaleGyroRange()
```
    Get full-scale gyroscope range. The FS_SEL parameter allows setting the full-scale range of the gyro sensors.
    
    Returns:
    
    Current full-scale gyroscope range setting
    
    See Also:
    
    MPU6050.GyroRange.FS_250, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH
  - setFullScaleGyroRange
```
public void setFullScaleGyroRange(MPU6050.GyroRange range)
```
    Set full-scale gyroscope range.
    
    Parameters:
    
    range - New full-scale gyroscope range value
    
    See Also:
    
    getFullScaleGyroRange(), MPU6050.GyroRange, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH
  - getAccelXSelfTest
```
public boolean getAccelXSelfTest()
```
    Get self-test enabled setting for accelerometer X axis.
    
    Returns:
    
    Self-test enabled value
    
    See Also:
    
    MPU6050_RA_ACCEL_CONFIG
  - setAccelXSelfTest
```
public void setAccelXSelfTest(boolean enabled)
```
    Get self-test enabled setting for accelerometer X axis.
    
    Parameters:
    
    enabled - Self-test enabled value
    
    See Also:
    
    MPU6050_RA_ACCEL_CONFIG
  - getAccelYSelfTest
```
public boolean getAccelYSelfTest()
```
    Get self-test enabled value for accelerometer Y axis.
    
    Returns:
    
    Self-test enabled value
    
    See Also:
    
    MPU6050_RA_ACCEL_CONFIG
  - setAccelYSelfTest
```
public void setAccelYSelfTest(boolean enabled)
```
    Get self-test enabled value for accelerometer Y axis.
    
    Parameters:
    
    enabled - Self-test enabled value
    
    See Also:
    
    MPU6050_RA_ACCEL_CONFIG
  - getAccelZSelfTest
```
public boolean getAccelZSelfTest()
```
    Get self-test enabled value for accelerometer Z axis.
    
    Returns:
    
    Self-test enabled value
    
    See Also:
    
    MPU6050_RA_ACCEL_CONFIG
  - setAccelZSelfTest
```
public void setAccelZSelfTest(boolean enabled)
```
    Set self-test enabled value for accelerometer Z axis.
    
    Parameters:
    
    enabled - Self-test enabled value
    
    See Also:
    
    MPU6050_RA_ACCEL_CONFIG
  - getFullScaleAccelRange
```
public IAccelerometer.AccelRange getFullScaleAccelRange()
```
    Get full-scale accelerometer range. The FS_SEL parameter allows setting the full-scale range of the accelerometer sensors, as described in the table below.
```
 0 = +/- 2g
 1 = +/- 4g
 2 = +/- 8g
 3 = +/- 16g
 
```
    Returns:
    
    Current full-scale accelerometer range setting
    
    See Also:
    
    MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH
  - getAccelRange
```
public IAccelerometer.AccelRange getAccelRange()
```
  - setFullScaleAccelRange
```
public void setFullScaleAccelRange(IAccelerometer.AccelRange range)
```
    Set full-scale accelerometer range.
    
    Parameters:
    
    range - New full-scale accelerometer range setting
    
    See Also:
    
    getFullScaleAccelRange()
  - setAccelRange
```
public void setAccelRange(IAccelerometer.AccelRange range)
```
  - getDHPFMode
```
public MPU6050.DHPFilterMode getDHPFMode()
```
    Get the high-pass filter configuration. The DHPF is a filter module in the path leading to motion detectors (Free Fall, Motion threshold, and Zero Motion). The high pass filter output is not available to the data registers (see Figure in Section 8 of the MPU-6000/ MPU-6050 Product Specification document).
    
    Returns:
    
    Current high-pass filter configuration
    
    See Also:
    
    MPU6050_RA_ACCEL_CONFIG, MPU6050.DHPFilterMode, MPU6050.DHPFilterMode.RESET
  - setDHPFMode
```
public void setDHPFMode(MPU6050.DHPFilterMode bandwidth)
```
    Set the high-pass filter configuration.
    
    Parameters:
    
    bandwidth - New high-pass filter configuration
    
    See Also:
    
    setDHPFMode(DHPFilterMode), MPU6050_RA_ACCEL_CONFIG, MPU6050.DHPFilterMode, MPU6050.DHPFilterMode.RESET
  - getFreefallDetectionThreshold
```
public byte getFreefallDetectionThreshold()
```
    Get free-fall event acceleration threshold. This register configures the detection threshold for Free Fall event detection. The unit of FF_THR is 1LSB = 2mg. Free Fall is detected when the absolute value of the accelerometer measurements for the three axes are each less than the detection threshold. This condition increments the Free Fall duration counter (Register 30). The Free Fall interrupt is triggered when the Free Fall duration counter reaches the time specified in FF_DUR. For more details on the Free Fall detection interrupt, see Section 8.2 of the MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and 58 of this document.
    
    Returns:
    
    Current free-fall acceleration threshold value (LSB = 2mg)
    
    See Also:
    
    MPU6050_RA_FF_THR
  - setFreefallDetectionThreshold
```
public void setFreefallDetectionThreshold(byte threshold)
```
    Get free-fall event acceleration threshold.
    
    Parameters:
    
    threshold - New free-fall acceleration threshold value (LSB = 2mg)
    
    See Also:
    
    getFreefallDetectionThreshold(), MPU6050_RA_FF_THR
  - getFreefallDetectionDuration
```
public byte getFreefallDetectionDuration()
```
    Get free-fall event duration threshold. This register configures the duration counter threshold for Free Fall event detection. The duration counter ticks at 1kHz, therefore FF_DUR has a unit of 1 LSB = 1 ms. The Free Fall duration counter increments while the absolute value of the accelerometer measurements are each less than the detection threshold (Register 29). The Free Fall interrupt is triggered when the Free Fall duration counter reaches the time specified in this register. For more details on the Free Fall detection interrupt, see Section 8.2 of the MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and 58 of this document.
    
    Returns:
    
    Current free-fall duration threshold value (LSB = 1ms)
    
    See Also:
    
    MPU6050_RA_FF_DUR
  - setFreefallDetectionDuration
```
public void setFreefallDetectionDuration(byte duration)
```
    Get free-fall event duration threshold.
    
    Parameters:
    
    duration - New free-fall duration threshold value (LSB = 1ms)
    
    See Also:
    
    getFreefallDetectionDuration(), MPU6050_RA_FF_DUR
  - getMotionDetectionThreshold
```
public byte getMotionDetectionThreshold()
```
    Get motion detection event acceleration threshold. This register configures the detection threshold for Motion interrupt generation. The unit of MOT_THR is 1LSB = 2mg. Motion is detected when the absolute value of any of the accelerometer measurements exceeds this Motion detection threshold. This condition increments the Motion detection duration counter (Register 32). The Motion detection interrupt is triggered when the Motion Detection counter reaches the time count specified in MOT_DUR (Register 32). The Motion interrupt will indicate the axis and polarity of detected motion in MOT_DETECT_STATUS (Register 97). For more details on the Motion detection interrupt, see Section 8.3 of the MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and 58 of this document.
    
    Returns:
    
    Current motion detection acceleration threshold value (LSB = 2mg)
    
    See Also:
    
    MPU6050_RA_MOT_THR
  - setMotionDetectionThreshold
```
public void setMotionDetectionThreshold(byte threshold)
```
    Set free-fall event acceleration threshold.
    
    Parameters:
    
    threshold - New motion detection acceleration threshold value (LSB = 2mg)
    
    See Also:
    
    getMotionDetectionThreshold(), MPU6050_RA_MOT_THR
  - getMotionDetectionDuration
```
public byte getMotionDetectionDuration()
```
    Get motion detection event duration threshold. This register configures the duration counter threshold for Motion interrupt generation. The duration counter ticks at 1 kHz, therefore MOT_DUR has a unit of 1LSB = 1ms. The Motion detection duration counter increments when the absolute value of any of the accelerometer measurements exceeds the Motion detection threshold (Register 31). The Motion detection interrupt is triggered when the Motion detection counter reaches the time count specified in this register. For more details on the Motion detection interrupt, see Section 8.3 of the MPU-6000/MPU-6050 Product Specification document.
    
    Returns:
    
    Current motion detection duration threshold value (LSB = 1ms)
    
    See Also:
    
    MPU6050_RA_MOT_DUR
  - setMotionDetectionDuration
```
public void setMotionDetectionDuration(byte duration)
```
    Set motion detection event duration threshold.
    
    Parameters:
    
    duration - New motion detection duration threshold value (LSB = 1ms)
    
    See Also:
    
    getMotionDetectionDuration(), MPU6050_RA_MOT_DUR
  - getZeroMotionDetectionThreshold
```
public byte getZeroMotionDetectionThreshold()
```
    Get zero motion detection event acceleration threshold. This register configures the detection threshold for Zero Motion interrupt generation. The unit of ZRMOT_THR is 1LSB = 2mg. Zero Motion is detected when the absolute value of the accelerometer measurements for the 3 axes are each less than the detection threshold. This condition increments the Zero Motion duration counter (Register 34). The Zero Motion interrupt is triggered when the Zero Motion duration counter reaches the time count specified in ZRMOT_DUR (Register 34). Unlike Free Fall or Motion detection, Zero Motion detection triggers an interrupt both when Zero Motion is first detected and when Zero Motion is no longer detected. When a zero motion event is detected, a Zero Motion Status will be indicated in the MOT_DETECT_STATUS register (Register 97). When a motion-to-zero-motion condition is detected, the status bit is set to 1. When a zero-motion-to- motion condition is detected, the status bit is set to 0. For more details on the Zero Motion detection interrupt, see Section 8.4 of the MPU-6000/MPU-6050 Product Specification document as well as Registers 56 and 58 of this document.
    
    Returns:
    
    Current zero motion detection acceleration threshold value (LSB = 2mg)
    
    See Also:
    
    MPU6050_RA_ZRMOT_THR
  - setZeroMotionDetectionThreshold
```
public void setZeroMotionDetectionThreshold(byte threshold)
```
    Set zero motion detection event acceleration threshold.
    
    Parameters:
    
    threshold - New zero motion detection acceleration threshold value (LSB = 2mg)
    
    See Also:
    
    getZeroMotionDetectionThreshold(), MPU6050_RA_ZRMOT_THR
  - getZeroMotionDetectionDuration
```
public byte getZeroMotionDetectionDuration()
```
    Get zero motion detection event duration threshold. This register configures the duration counter threshold for Zero Motion interrupt generation. The duration counter ticks at 16 Hz, therefore ZRMOT_DUR has a unit of 1 LSB = 64 ms. The Zero Motion duration counter increments while the absolute value of the accelerometer measurements are each less than the detection threshold (Register 33). The Zero Motion interrupt is triggered when the Zero Motion duration counter reaches the time count specified in this register. For more details on the Zero Motion detection interrupt, see Section 8.4 of the MPU-6000/MPU-6050 Product Specification document, as well as Registers 56 and 58 of this document.
    
    Returns:
    
    Current zero motion detection duration threshold value (LSB = 64ms)
    
    See Also:
    
    MPU6050_RA_ZRMOT_DUR
  - setZeroMotionDetectionDuration
```
public void setZeroMotionDetectionDuration(byte duration)
```
    Set zero motion detection event duration threshold.
    
    Parameters:
    
    duration - New zero motion detection duration threshold value (LSB = 1ms)
    
    See Also:
    
    getZeroMotionDetectionDuration(), MPU6050_RA_ZRMOT_DUR
  - getTempFIFOEnabled
```
public boolean getTempFIFOEnabled()
```
    Get temperature FIFO enabled value. When set to 1, this bit enables TEMP_OUT_H and TEMP_OUT_L (Registers 65 and 66) to be written into the FIFO buffer.
    
    Returns:
    
    Current temperature FIFO enabled value
    
    See Also:
    
    MPU6050_RA_FIFO_EN
  - setTempFIFOEnabled
```
public void setTempFIFOEnabled(boolean enabled)
```
    Set temperature FIFO enabled value.
    
    Parameters:
    
    enabled - New temperature FIFO enabled value
    
    See Also:
    
    getTempFIFOEnabled(), MPU6050_RA_FIFO_EN
  - getXGyroFIFOEnabled
```
public boolean getXGyroFIFOEnabled()
```
    Get gyroscope X-axis FIFO enabled value. When set to 1, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and 68) to be written into the FIFO buffer.
    
    Returns:
    
    Current gyroscope X-axis FIFO enabled value
    
    See Also:
    
    MPU6050_RA_FIFO_EN
  - setXGyroFIFOEnabled
```
public void setXGyroFIFOEnabled(boolean enabled)
```
    Set gyroscope X-axis FIFO enabled value.
    
    Parameters:
    
    enabled - New gyroscope X-axis FIFO enabled value
    
    See Also:
    
    getXGyroFIFOEnabled(), MPU6050_RA_FIFO_EN
  - getYGyroFIFOEnabled
```
public boolean getYGyroFIFOEnabled()
```
    Get gyroscope Y-axis FIFO enabled value. When set to 1, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and 70) to be written into the FIFO buffer.
    
    Returns:
    
    Current gyroscope Y-axis FIFO enabled value
    
    See Also:
    
    MPU6050_RA_FIFO_EN
  - setYGyroFIFOEnabled
```
public void setYGyroFIFOEnabled(boolean enabled)
```
    Set gyroscope Y-axis FIFO enabled value.
    
    Parameters:
    
    enabled - New gyroscope Y-axis FIFO enabled value
    
    See Also:
    
    getYGyroFIFOEnabled(), MPU6050_RA_FIFO_EN
  - getZGyroFIFOEnabled
```
public boolean getZGyroFIFOEnabled()
```
    Get gyroscope Z-axis FIFO enabled value. When set to 1, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and 72) to be written into the FIFO buffer.
    
    Returns:
    
    Current gyroscope Z-axis FIFO enabled value
    
    See Also:
    
    MPU6050_RA_FIFO_EN
  - setZGyroFIFOEnabled
```
public void setZGyroFIFOEnabled(boolean enabled)
```
    Set gyroscope Z-axis FIFO enabled value.
    
    Parameters:
    
    enabled - New gyroscope Z-axis FIFO enabled value
    
    See Also:
    
    getZGyroFIFOEnabled(), MPU6050_RA_FIFO_EN
  - getAccelFIFOEnabled
```
public boolean getAccelFIFOEnabled()
```
    Get accelerometer FIFO enabled value. When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H, ACCEL_YOUT_L, ACCEL_ZOUT_H, and ACCEL_ZOUT_L (Registers 59 to 64) to be written into the FIFO buffer.
    
    Returns:
    
    Current accelerometer FIFO enabled value
    
    See Also:
    
    MPU6050_RA_FIFO_EN
  - setAccelFIFOEnabled
```
public void setAccelFIFOEnabled(boolean enabled)
```
    Set accelerometer FIFO enabled value.
    
    Parameters:
    
    enabled - New accelerometer FIFO enabled value
    
    See Also:
    
    getAccelFIFOEnabled(), MPU6050_RA_FIFO_EN
  - getSlave2FIFOEnabled
```
public boolean getSlave2FIFOEnabled()
```
    Get Slave 2 FIFO enabled value. When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96) associated with Slave 2 to be written into the FIFO buffer.
    
    Returns:
    
    Current Slave 2 FIFO enabled value
    
    See Also:
    
    MPU6050_RA_FIFO_EN
  - setSlave2FIFOEnabled
```
public void setSlave2FIFOEnabled(boolean enabled)
```
    Set Slave 2 FIFO enabled value.
    
    Parameters:
    
    enabled - New Slave 2 FIFO enabled value
    
    See Also:
    
    getSlave2FIFOEnabled(), MPU6050_RA_FIFO_EN
  - getSlave1FIFOEnabled
```
public boolean getSlave1FIFOEnabled()
```
    Get Slave 1 FIFO enabled value. When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96) associated with Slave 1 to be written into the FIFO buffer.
    
    Returns:
    
    Current Slave 1 FIFO enabled value
    
    See Also:
    
    MPU6050_RA_FIFO_EN
  - setSlave1FIFOEnabled
```
public void setSlave1FIFOEnabled(boolean enabled)
```
    Set Slave 1 FIFO enabled value.
    
    Parameters:
    
    enabled - New Slave 1 FIFO enabled value
    
    See Also:
    
    getSlave1FIFOEnabled(), MPU6050_RA_FIFO_EN
  - getSlave0FIFOEnabled
```
public boolean getSlave0FIFOEnabled()
```
    Get Slave 0 FIFO enabled value. When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96) associated with Slave 0 to be written into the FIFO buffer.
    
    Returns:
    
    Current Slave 0 FIFO enabled value
    
    See Also:
    
    MPU6050_RA_FIFO_EN
  - setSlave0FIFOEnabled
```
public void setSlave0FIFOEnabled(boolean enabled)
```
    Set Slave 0 FIFO enabled value.
    
    Parameters:
    
    enabled - New Slave 0 FIFO enabled value
    
    See Also:
    
    getSlave0FIFOEnabled(), MPU6050_RA_FIFO_EN
  - getMultiMasterEnabled
```
public boolean getMultiMasterEnabled()
```
    Get multi-master enabled value. Multi-master capability allows multiple I2C masters to operate on the same bus. In circuits where multi-master capability is required, set MULT_MST_EN to 1. This will increase current drawn by approximately 30uA. In circuits where multi-master capability is required, the state of the I2C bus must always be monitored by each separate I2C Master. Before an I2C Master can assume arbitration of the bus, it must first confirm that no other I2C Master has arbitration of the bus. When MULT_MST_EN is set to 1, the MPU-60X0's bus arbitration detection logic is turned on, enabling it to detect when the bus is available.
    
    Returns:
    
    Current multi-master enabled value
    
    See Also:
    
    MPU6050_RA_I2C_MST_CTRL
  - setMultiMasterEnabled
```
public void setMultiMasterEnabled(boolean enabled)
```
    Set multi-master enabled value.
    
    Parameters:
    
    enabled - New multi-master enabled value
    
    See Also:
    
    getMultiMasterEnabled(), MPU6050_RA_I2C_MST_CTRL
  - getWaitForExternalSensorEnabled
```
public boolean getWaitForExternalSensorEnabled()
```
    Get wait-for-external-sensor-data enabled value. When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be delayed until External Sensor data from the Slave Devices are loaded into the EXT_SENS_DATA registers. This is used to ensure that both the internal sensor data (i.e. from gyro and accel) and external sensor data have been loaded to their respective data registers (i.e. the data is synced) when the Data Ready interrupt is triggered.
    
    Returns:
    
    Current wait-for-external-sensor-data enabled value
    
    See Also:
    
    MPU6050_RA_I2C_MST_CTRL
  - setWaitForExternalSensorEnabled
```
public void setWaitForExternalSensorEnabled(boolean enabled)
```
    Set wait-for-external-sensor-data enabled value.
    
    Parameters:
    
    enabled - New wait-for-external-sensor-data enabled value
    
    See Also:
    
    getWaitForExternalSensorEnabled(), MPU6050_RA_I2C_MST_CTRL
  - getSlave3FIFOEnabled
```
public boolean getSlave3FIFOEnabled()
```
    Get Slave 3 FIFO enabled value. When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96) associated with Slave 3 to be written into the FIFO buffer.
    
    Returns:
    
    Current Slave 3 FIFO enabled value
    
    See Also:
    
    MPU6050_RA_I2C_MST_CTRL
  - setSlave3FIFOEnabled
```
public void setSlave3FIFOEnabled(boolean enabled)
```
    Set Slave 3 FIFO enabled value.
    
    Parameters:
    
    enabled - New Slave 3 FIFO enabled value
    
    See Also:
    
    getSlave3FIFOEnabled(), MPU6050_RA_I2C_MST_CTRL
  - getSlaveReadWriteTransitionEnabled
```
public boolean getSlaveReadWriteTransitionEnabled()
```
    Get slave read/write transition enabled value. The I2C_MST_P_NSR bit configures the I2C Master's transition from one slave read to the next slave read. If the bit equals 0, there will be a restart between reads. If the bit equals 1, there will be a stop followed by a start of the following read. When a write transaction follows a read transaction, the stop followed by a start of the successive write will be always used.
    
    Returns:
    
    Current slave read/write transition enabled value
    
    See Also:
    
    MPU6050_RA_I2C_MST_CTRL
  - setSlaveReadWriteTransitionEnabled
```
public void setSlaveReadWriteTransitionEnabled(boolean enabled)
```
    Set slave read/write transition enabled value.
    
    Parameters:
    
    enabled - New slave read/write transition enabled value
    
    See Also:
    
    getSlaveReadWriteTransitionEnabled(), MPU6050_RA_I2C_MST_CTRL
  - getMasterClockSpeed
```
public MPU6050.ClockSpeed getMasterClockSpeed()
```
    Get I2C master clock speed. I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the MPU-60X0 internal 8MHz clock. It sets the I2C master clock speed. *
    
    Returns:
    
    Current I2C master clock speed
    
    See Also:
    
    MPU6050_RA_I2C_MST_CTRL
  - setMasterClockSpeed
```
public void setMasterClockSpeed(MPU6050.ClockSpeed speed)
```
    Set I2C master clock speed.
    
    Parameters:
    
    speed - Current I2C master clock speed
    
    See Also:
    
    MPU6050_RA_I2C_MST_CTRL
  - getSlaveAddress
```
public byte getSlaveAddress(byte num)
```
    Get the I2C address of the specified slave (0-3). Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read operation, and if it is cleared, then it's a write operation. The remaining bits (6-0) are the 7-bit device address of the slave device. In read mode, the result of the read is placed in the lowest available EXT_SENS_DATA register. For further information regarding the allocation of read results, please refer to the EXT_SENS_DATA register description (Registers 73 - 96). The MPU-6050 supports a total of five slaves, but Slave 4 has unique characteristics, and so it has its own functions (getSlave4* and setSlave4*). I2C data transactions are performed at the Sample Rate, as defined in Register 25. The user is responsible for ensuring that I2C data transactions to and from each enabled Slave can be completed within a single period of the Sample Rate. The I2C slave access rate can be reduced relative to the Sample Rate. This reduced access rate is determined by I2C_MST_DLY (Register 52). Whether a slave's access rate is reduced relative to the Sample Rate is determined by I2C_MST_DELAY_CTRL (Register 103). The processing order for the slaves is fixed. The sequence followed for processing the slaves is Slave 0, Slave 1, Slave 2, Slave 3 and Slave 4. If a particular Slave is disabled it will be skipped. Each slave can either be accessed at the sample rate or at a reduced sample rate. In a case where some slaves are accessed at the Sample Rate and some slaves are accessed at the reduced rate, the sequence of accessing the slaves (Slave 0 to Slave 4) is still followed. However, the reduced rate slaves will be skipped if their access rate dictates that they should not be accessed during that particular cycle. For further information regarding the reduced access rate, please refer to Register 52. Whether a slave is accessed at the Sample Rate or at the reduced rate is determined by the Delay Enable bits in Register 103.
    
    Parameters:
    
    num - Slave number (0-3)
    
    Returns:
    
    Current address for specified slave
    
    See Also:
    
    MPU6050_RA_I2C_SLV0_ADDR
  - setSlaveAddress
```
public void setSlaveAddress(byte num,
                            byte address)
```
    Set the I2C address of the specified slave (0-3).
    
    Parameters:
    
    num - Slave number (0-3)
    
    address - New address for specified slave
    
    See Also:
    
    getSlaveAddress(byte), MPU6050_RA_I2C_SLV0_ADDR
  - getSlaveRegister
```
public byte getSlaveRegister(byte num)
```
    Get the active internal register for the specified slave (0-3). Read/write operations for this slave will be done to whatever internal register address is stored in this MPU register. The MPU-6050 supports a total of five slaves, but Slave 4 has unique characteristics, and so it has its own functions.
    
    Parameters:
    
    num - Slave number (0-3)
    
    Returns:
    
    Current active register for specified slave
    
    See Also:
    
    MPU6050_RA_I2C_SLV0_REG
  - setSlaveRegister
```
public void setSlaveRegister(byte num,
                             byte reg)
```
    Set the active internal register for the specified slave (0-3).
    
    Parameters:
    
    num - Slave number (0-3)
    
    reg - New active register for specified slave
    
    See Also:
    
    getSlaveRegister(byte), MPU6050_RA_I2C_SLV0_REG
  - getSlaveEnabled
```
public boolean getSlaveEnabled(byte num)
```
    Get the enabled value for the specified slave (0-3). When set to 1, this bit enables Slave 0 for data transfer operations. When cleared to 0, this bit disables Slave 0 from data transfer operations.
    
    Parameters:
    
    num - Slave number (0-3)
    
    Returns:
    
    Current enabled value for specified slave
    
    See Also:
    
    MPU6050_RA_I2C_SLV0_CTRL
  - setSlaveEnabled
```
public void setSlaveEnabled(byte num,
                            boolean enabled)
```
    Set the enabled value for the specified slave (0-3).
    
    Parameters:
    
    num - Slave number (0-3)
    
    enabled - New enabled value for specified slave
    
    See Also:
    
    getSlaveEnabled(byte), MPU6050_RA_I2C_SLV0_CTRL
  - getSlaveWordByteSwap
```
public boolean getSlaveWordByteSwap(byte num)
```
    Get word pair byte-swapping enabled for the specified slave (0-3). When set to 1, this bit enables byte swapping. When byte swapping is enabled, the high and low bytes of a word pair are swapped. Please refer to I2C_SLV0_GRP for the pairing convention of the word pairs. When cleared to 0, bytes transferred to and from Slave 0 will be written to EXT_SENS_DATA registers in the order they were transferred.
    
    Parameters:
    
    num - Slave number (0-3)
    
    Returns:
    
    Current word pair byte-swapping enabled value for specified slave
    
    See Also:
    
    MPU6050_RA_I2C_SLV0_CTRL
  - setSlaveWordByteSwap
```
public void setSlaveWordByteSwap(byte num,
                                 boolean enabled)
```
    Set word pair byte-swapping enabled for the specified slave (0-3).
    
    Parameters:
    
    num - Slave number (0-3)
    
    enabled - New word pair byte-swapping enabled value for specified slave
    
    See Also:
    
    getSlaveWordByteSwap(byte), MPU6050_RA_I2C_SLV0_CTRL
  - getSlaveWriteMode
```
public boolean getSlaveWriteMode(byte num)
```
    Get write mode for the specified slave (0-3). When set to 1, the transaction will read or write data only. When cleared to 0, the transaction will write a register address prior to reading or writing data. This should equal 0 when specifying the register address within the Slave device to/from which the ensuing data transaction will take place.
    
    Parameters:
    
    num - Slave number (0-3)
    
    Returns:
    
    Current write mode for specified slave (0 = register address + data, 1 = data only)
    
    See Also:
    
    MPU6050_RA_I2C_SLV0_CTRL
  - setSlaveWriteMode
```
public void setSlaveWriteMode(byte num,
                              boolean mode)
```
    Set write mode for the specified slave (0-3).
    
    Parameters:
    
    num - Slave number (0-3)
    
    mode - New write mode for specified slave (0 = register address + data, 1 = data only)
    
    See Also:
    
    getSlaveWriteMode(byte), MPU6050_RA_I2C_SLV0_CTRL
  - getSlaveWordGroupOffset
```
public boolean getSlaveWordGroupOffset(byte num)
```
    Get word pair grouping order offset for the specified slave (0-3). This sets specifies the grouping order of word pairs received from registers. When cleared to 0, bytes from register addresses 0 and 1, 2 and 3, etc (even, then odd register addresses) are paired to form a word. When set to 1, bytes from register addresses are paired 1 and 2, 3 and 4, etc. (odd, then even register addresses) are paired to form a word.
    
    Parameters:
    
    num - Slave number (0-3)
    
    Returns:
    
    Current word pair grouping order offset for specified slave
    
    See Also:
    
    MPU6050_RA_I2C_SLV0_CTRL
  - setSlaveWordGroupOffset
```
public void setSlaveWordGroupOffset(byte num,
                                    boolean enabled)
```
    Set word pair grouping order offset for the specified slave (0-3).
    
    Parameters:
    
    num - Slave number (0-3)
    
    enabled - New word pair grouping order offset for specified slave
    
    See Also:
    
    getSlaveWordGroupOffset(byte), MPU6050_RA_I2C_SLV0_CTRL
  - getSlaveDataLength
```
public byte getSlaveDataLength(byte num)
```
    Get number of bytes to read for the specified slave (0-3). Specifies the number of bytes transferred to and from Slave 0. Clearing this bit to 0 is equivalent to disabling the register by writing 0 to I2C_SLV0_EN.
    
    Parameters:
    
    num - Slave number (0-3)
    
    Returns:
    
    Number of bytes to read for specified slave
    
    See Also:
    
    MPU6050_RA_I2C_SLV0_CTRL
  - setSlaveDataLength
```
public void setSlaveDataLength(byte num,
                               byte length)
```
    Set number of bytes to read for the specified slave (0-3).
    
    Parameters:
    
    num - Slave number (0-3)
    
    length - Number of bytes to read for specified slave
    
    See Also:
    
    getSlaveDataLength(byte), MPU6050_RA_I2C_SLV0_CTRL
  - getSlave4Address
```
public byte getSlave4Address()
```
    Get the I2C address of Slave 4. Note that Bit 7 (MSB) controls read/write mode. If Bit 7 is set, it's a read operation, and if it is cleared, then it's a write operation. The remaining bits (6-0) are the 7-bit device address of the slave device.
    
    Returns:
    
    Current address for Slave 4
    
    See Also:
    
    getSlaveAddress(byte), MPU6050_RA_I2C_SLV4_ADDR
  - setSlave4Address
```
public void setSlave4Address(byte address)
```
    Set the I2C address of Slave 4.
    
    Parameters:
    
    address - New address for Slave 4
    
    See Also:
    
    getSlave4Address(), MPU6050_RA_I2C_SLV4_ADDR
  - getSlave4Register
```
public byte getSlave4Register()
```
    Get the active internal register for the Slave 4. Read/write operations for this slave will be done to whatever internal register address is stored in this MPU register.
    
    Returns:
    
    Current active register for Slave 4
    
    See Also:
    
    MPU6050_RA_I2C_SLV4_REG
  - setSlave4Register
```
public void setSlave4Register(byte reg)
```
    Set the active internal register for Slave 4.
    
    Parameters:
    
    reg - New active register for Slave 4
    
    See Also:
    
    getSlave4Register(), MPU6050_RA_I2C_SLV4_REG
  - setSlave4OutputByte
```
public void setSlave4OutputByte(byte data)
```
    Set new byte to write to Slave 4. This register stores the data to be written into the Slave 4. If I2C_SLV4_RW is set 1 (set to read), this register has no effect.
    
    Parameters:
    
    data - New byte to write to Slave 4
    
    See Also:
    
    MPU6050_RA_I2C_SLV4_DO
  - getSlave4Enabled
```
public boolean getSlave4Enabled()
```
    Get the enabled value for the Slave 4. When set to 1, this bit enables Slave 4 for data transfer operations. When cleared to 0, this bit disables Slave 4 from data transfer operations.
    
    Returns:
    
    Current enabled value for Slave 4
    
    See Also:
    
    MPU6050_RA_I2C_SLV4_CTRL
  - setSlave4Enabled
```
public void setSlave4Enabled(boolean enabled)
```
    Set the enabled value for Slave 4.
    
    Parameters:
    
    enabled - New enabled value for Slave 4
    
    See Also:
    
    getSlave4Enabled(), MPU6050_RA_I2C_SLV4_CTRL
  - getSlave4InterruptEnabled
```
public boolean getSlave4InterruptEnabled()
```
    Get the enabled value for Slave 4 transaction interrupts. When set to 1, this bit enables the generation of an interrupt signal upon completion of a Slave 4 transaction. When cleared to 0, this bit disables the generation of an interrupt signal upon completion of a Slave 4 transaction. The interrupt status can be observed in Register 54.
    
    Returns:
    
    Current enabled value for Slave 4 transaction interrupts.
    
    See Also:
    
    MPU6050_RA_I2C_SLV4_CTRL
  - setSlave4InterruptEnabled
```
public void setSlave4InterruptEnabled(boolean enabled)
```
    Set the enabled value for Slave 4 transaction interrupts.
    
    Parameters:
    
    enabled - New enabled value for Slave 4 transaction interrupts.
    
    See Also:
    
    getSlave4InterruptEnabled(), MPU6050_RA_I2C_SLV4_CTRL
  - getSlave4WriteMode
```
public boolean getSlave4WriteMode()
```
    Get write mode for Slave 4. When set to 1, the transaction will read or write data only. When cleared to 0, the transaction will write a register address prior to reading or writing data. This should equal 0 when specifying the register address within the Slave device to/from which the ensuing data transaction will take place.
    
    Returns:
    
    Current write mode for Slave 4 (0 = register address + data, 1 = data only)
    
    See Also:
    
    MPU6050_RA_I2C_SLV4_CTRL
  - setSlave4WriteMode
```
public void setSlave4WriteMode(boolean mode)
```
    Set write mode for the Slave 4.
    
    Parameters:
    
    mode - New write mode for Slave 4 (0 = register address + data, 1 = data only)
    
    See Also:
    
    getSlave4WriteMode(), MPU6050_RA_I2C_SLV4_CTRL
  - getSlave4MasterDelay
```
public byte getSlave4MasterDelay()
```
    Get Slave 4 master delay value. This configures the reduced access rate of I2C slaves relative to the Sample Rate. When a slave's access rate is decreased relative to the Sample Rate, the slave is accessed every: 1 / (1 + I2C_MST_DLY) samples This base Sample Rate in turn is determined by SMPLRT_DIV (register 25) and DLPF_CFG (register 26). Whether a slave's access rate is reduced relative to the Sample Rate is determined by I2C_MST_DELAY_CTRL (register 103). For further information regarding the Sample Rate, please refer to register 25.
    
    Returns:
    
    Current Slave 4 master delay value
    
    See Also:
    
    MPU6050_RA_I2C_SLV4_CTRL
  - setSlave4MasterDelay
```
public void setSlave4MasterDelay(byte delay)
```
    Set Slave 4 master delay value.
    
    Parameters:
    
    delay - New Slave 4 master delay value
    
    See Also:
    
    getSlave4MasterDelay(), MPU6050_RA_I2C_SLV4_CTRL
  - getSlate4InputByte
```
public byte getSlate4InputByte()
```
    Get last available byte read from Slave 4. This register stores the data read from Slave 4. This field is populated after a read transaction.
    
    Returns:
    
    Last available byte read from to Slave 4
    
    See Also:
    
    MPU6050_RA_I2C_SLV4_DI
  - getPassthroughStatus
```
public boolean getPassthroughStatus()
```
    Get FSYNC interrupt status. This bit reflects the status of the FSYNC interrupt from an external device into the MPU-60X0. This is used as a way to pass an external interrupt through the MPU-60X0 to the host application processor. When set to 1, this bit will cause an interrupt if FSYNC_INT_EN is asserted in INT_PIN_CFG (Register 55).
    
    Returns:
    
    FSYNC interrupt status
    
    See Also:
    
    MPU6050_RA_I2C_MST_STATUS
  - getSlave4IsDone
```
public boolean getSlave4IsDone()
```
    Get Slave 4 transaction done status. Automatically sets to 1 when a Slave 4 transaction has completed. This triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted and if the SLV_4_DONE_INT bit is asserted in the I2C_SLV4_CTRL register (Register 52).
    
    Returns:
    
    Slave 4 transaction done status
    
    See Also:
    
    MPU6050_RA_I2C_MST_STATUS
  - getLostArbitration
```
public boolean getLostArbitration()
```
    Get master arbitration lost status. This bit automatically sets to 1 when the I2C Master has lost arbitration of the auxiliary I2C bus (an error condition). This triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
    
    Returns:
    
    Master arbitration lost status
    
    See Also:
    
    MPU6050_RA_I2C_MST_STATUS
  - getSlave4Nack
```
public boolean getSlave4Nack()
```
    Get Slave 4 NACK status. This bit automatically sets to 1 when the I2C Master receives a NACK in a transaction with Slave 4. This triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
    
    Returns:
    
    Slave 4 NACK interrupt status
    
    See Also:
    
    MPU6050_RA_I2C_MST_STATUS
  - getSlave3Nack
```
public boolean getSlave3Nack()
```
    Get Slave 3 NACK status. This bit automatically sets to 1 when the I2C Master receives a NACK in a transaction with Slave 3. This triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
    
    Returns:
    
    Slave 3 NACK interrupt status
    
    See Also:
    
    MPU6050_RA_I2C_MST_STATUS
  - getSlave2Nack
```
public boolean getSlave2Nack()
```
    Get Slave 2 NACK status. This bit automatically sets to 1 when the I2C Master receives a NACK in a transaction with Slave 2. This triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
    
    Returns:
    
    Slave 2 NACK interrupt status
    
    See Also:
    
    MPU6050_RA_I2C_MST_STATUS
  - getSlave1Nack
```
public boolean getSlave1Nack()
```
    Get Slave 1 NACK status. This bit automatically sets to 1 when the I2C Master receives a NACK in a transaction with Slave 1. This triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
    
    Returns:
    
    Slave 1 NACK interrupt status
    
    See Also:
    
    MPU6050_RA_I2C_MST_STATUS
  - getSlave0Nack
```
public boolean getSlave0Nack()
```
    Get Slave 0 NACK status. This bit automatically sets to 1 when the I2C Master receives a NACK in a transaction with Slave 0. This triggers an interrupt if the I2C_MST_INT_EN bit in the INT_ENABLE register (Register 56) is asserted.
    
    Returns:
    
    Slave 0 NACK interrupt status
    
    See Also:
    
    MPU6050_RA_I2C_MST_STATUS
  - getInterruptMode
```
public boolean getInterruptMode()
```
    Get interrupt logic level mode. Will be set 0 for active-high, 1 for active-low.
    
    Returns:
    
    Current interrupt mode (0=active-high, 1=active-low)
    
    See Also:
    
    MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT
  - setInterruptMode
```
public void setInterruptMode(boolean mode)
```
    Set interrupt logic level mode.
    
    Parameters:
    
    mode - New interrupt mode (0=active-high, 1=active-low)
    
    See Also:
    
    getInterruptMode(), MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT
  - getInterruptDrive
```
public boolean getInterruptDrive()
```
    Get interrupt drive mode. Will be set 0 for push-pull, 1 for open-drain.
    
    Returns:
    
    Current interrupt drive mode (0=push-pull, 1=open-drain)
    
    See Also:
    
    MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT
  - setInterruptDrive
```
public void setInterruptDrive(boolean drive)
```
    Set interrupt drive mode.
    
    Parameters:
    
    drive - New interrupt drive mode (0=push-pull, 1=open-drain)
    
    See Also:
    
    getInterruptDrive(), MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT
  - getInterruptLatch
```
public boolean getInterruptLatch()
```
    Get interrupt latch mode. Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared.
    
    Returns:
    
    Current latch mode (0=50us-pulse, 1=latch-until-int-cleared)
    
    See Also:
    
    MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT
  - setInterruptLatch
```
public void setInterruptLatch(boolean latch)
```
    Set interrupt latch mode.
    
    Parameters:
    
    latch - New latch mode (0=50us-pulse, 1=latch-until-int-cleared)
    
    See Also:
    
    getInterruptLatch(), MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT
  - getInterruptLatchClear
```
public boolean getInterruptLatchClear()
```
    Get interrupt latch clear mode. Will be set 0 for status-read-only, 1 for any-register-read.
    
    Returns:
    
    Current latch clear mode (0=status-read-only, 1=any-register-read)
    
    See Also:
    
    MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT
  - setInterruptLatchClear
```
public void setInterruptLatchClear(boolean clear)
```
    Set interrupt latch clear mode.
    
    Parameters:
    
    clear - New latch clear mode (0=status-read-only, 1=any-register-read)
    
    See Also:
    
    getInterruptLatchClear(), MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT
  - getFSyncInterruptLevel
```
public boolean getFSyncInterruptLevel()
```
    Get FSYNC interrupt logic level mode.
    
    Returns:
    
    Current FSYNC interrupt mode (0=active-high, 1=active-low)
    
    See Also:
    
    MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
  - setFSyncInterruptLevel
```
public void setFSyncInterruptLevel(boolean level)
```
    Set FSYNC interrupt logic level mode.
    
    Parameters:
    
    level - New FSYNC interrupt mode (0=active-high, 1=active-low)
    
    See Also:
    
    MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT
  - getFSyncInterruptEnabled
```
public boolean getFSyncInterruptEnabled()
```
    Get FSYNC pin interrupt enabled setting. Will be set 0 for disabled, 1 for enabled.
    
    Returns:
    
    Current interrupt enabled setting
    
    See Also:
    
    MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT
  - setFSyncInterruptEnabled
```
public void setFSyncInterruptEnabled(boolean enabled)
```
    Set FSYNC pin interrupt enabled setting.
    
    Parameters:
    
    enabled - New FSYNC pin interrupt enabled setting
    
    See Also:
    
    getFSyncInterruptEnabled(), MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT
  - getI2CBypassEnabled
```
public boolean getI2CBypassEnabled()
```
    Get I2C bypass enabled status. When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to 0, the host application processor will be able to directly access the auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host application processor will not be able to directly access the auxiliary I2C bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106 bit[5]).
    
    Returns:
    
    Current I2C bypass enabled status
    
    See Also:
    
    MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT
  - setI2CBypassEnabled
```
public void setI2CBypassEnabled(boolean enabled)
```
    Set I2C bypass enabled status. When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to 0, the host application processor will be able to directly access the auxiliary I2C bus of the MPU-60X0. When this bit is equal to 0, the host application processor will not be able to directly access the auxiliary I2C bus of the MPU-60X0 regardless of the state of I2C_MST_EN (Register 106 bit[5]).
    
    Parameters:
    
    enabled - New I2C bypass enabled status
    
    See Also:
    
    MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT
  - getClockOutputEnabled
```
public boolean getClockOutputEnabled()
```
    Get reference clock output enabled status. When this bit is equal to 1, a reference clock output is provided at the CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For further information regarding CLKOUT, please refer to the MPU-60X0 Product Specification document.
    
    Returns:
    
    Current reference clock output enabled status
    
    See Also:
    
    MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT
  - setClockOutputEnabled
```
public void setClockOutputEnabled(boolean enabled)
```
    Set reference clock output enabled status. When this bit is equal to 1, a reference clock output is provided at the CLKOUT pin. When this bit is equal to 0, the clock output is disabled. For further information regarding CLKOUT, please refer to the MPU-60X0 Product Specification document.
    
    Parameters:
    
    enabled - New reference clock output enabled status
    
    See Also:
    
    MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT
  - getIntEnabled
```
public byte getIntEnabled()
```
    Get full interrupt enabled status. Full register byte for all interrupts, for quick reading. Each bit will be set 0 for disabled, 1 for enabled.
    
    Returns:
    
    Current interrupt enabled status
    
    See Also:
    
    MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT
  - setIntEnabled
```
public void setIntEnabled(byte enabled)
```
    Set full interrupt enabled status. Full register byte for all interrupts, for quick reading. Each bit should be set 0 for disabled, 1 for enabled.
    
    Parameters:
    
    enabled - New interrupt enabled status
    
    See Also:
    
    getIntFreefallEnabled(), MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT
  - getIntFreefallEnabled
```
public boolean getIntFreefallEnabled()
```
    Get Free Fall interrupt enabled status. Will be set 0 for disabled, 1 for enabled.
    
    Returns:
    
    Current interrupt enabled status
    
    See Also:
    
    MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT
  - setIntFreefallEnabled
```
public void setIntFreefallEnabled(boolean enabled)
```
    Set Free Fall interrupt enabled status.
    
    Parameters:
    
    enabled - New interrupt enabled status
    
    See Also:
    
    getIntFreefallEnabled(), MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT
  - getIntMotionEnabled
```
public boolean getIntMotionEnabled()
```
    Get Motion Detection interrupt enabled status. Will be set 0 for disabled, 1 for enabled.
    
    Returns:
    
    Current interrupt enabled status
    
    See Also:
    
    MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT
  - setIntMotionEnabled
```
public void setIntMotionEnabled(boolean enabled)
```
    Set Motion Detection interrupt enabled status.
    
    Parameters:
    
    enabled - New interrupt enabled status
    
    See Also:
    
    getIntMotionEnabled(), MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT
  - getIntZeroMotionEnabled
```
public boolean getIntZeroMotionEnabled()
```
    Get Zero Motion Detection interrupt enabled status. Will be set 0 for disabled, 1 for enabled.
    
    Returns:
    
    Current interrupt enabled status
    
    See Also:
    
    MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT
  - setIntZeroMotionEnabled
```
public void setIntZeroMotionEnabled(boolean enabled)
```
    Set Zero Motion Detection interrupt enabled status.
    
    Parameters:
    
    enabled - New interrupt enabled status
    
    See Also:
    
    getIntZeroMotionEnabled(), MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT
  - getIntFIFOBufferOverflowEnabled
```
public boolean getIntFIFOBufferOverflowEnabled()
```
    Get FIFO Buffer Overflow interrupt enabled status. Will be set 0 for disabled, 1 for enabled.
    
    Returns:
    
    Current interrupt enabled status
    
    See Also:
    
    MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT
  - setIntFIFOBufferOverflowEnabled
```
public void setIntFIFOBufferOverflowEnabled(boolean enabled)
```
    Set FIFO Buffer Overflow interrupt enabled status.
    
    Parameters:
    
    enabled - New interrupt enabled status
    
    See Also:
    
    getIntFIFOBufferOverflowEnabled(), MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT
  - getIntI2CMasterEnabled
```
public boolean getIntI2CMasterEnabled()
```
    Get I2C Master interrupt enabled status. This enables any of the I2C Master interrupt sources to generate an interrupt. Will be set 0 for disabled, 1 for enabled.
    
    Returns:
    
    Current interrupt enabled status
    
    See Also:
    
    MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT
  - setIntI2CMasterEnabled
```
public void setIntI2CMasterEnabled(boolean enabled)
```
    Set I2C Master interrupt enabled status.
    
    Parameters:
    
    enabled - New interrupt enabled status
    
    See Also:
    
    getIntI2CMasterEnabled(), MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT
  - getIntDataReadyEnabled
```
public boolean getIntDataReadyEnabled()
```
    Get Data Ready interrupt enabled setting. This event occurs each time a write operation to all of the sensor registers has been completed. Will be set 0 for disabled, 1 for enabled.
    
    Returns:
    
    Current interrupt enabled status
    
    See Also:
    
    MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT
  - setIntDataReadyEnabled
```
public void setIntDataReadyEnabled(boolean enabled)
```
    Set Data Ready interrupt enabled status.
    
    Parameters:
    
    enabled - New interrupt enabled status
    
    See Also:
    
    getIntDataReadyEnabled(), MPU6050_RA_INT_PIN_CFG, MPU6050_INTERRUPT_DATA_RDY_BIT
  - getIntStatus
```
public byte getIntStatus()
```
    Get full set of interrupt status bits. These bits clear to 0 after the register has been read. Very useful for getting multiple INT statuses, since each single bit read clears all of them because it has to read the whole byte.
    
    Returns:
    
    Current interrupt status
    
    See Also:
    
    MPU6050_RA_INT_STATUS
  - getIntFreefallStatus
```
public boolean getIntFreefallStatus()
```
    Get Free Fall interrupt status. This bit automatically sets to 1 when a Free Fall interrupt has been generated. The bit clears to 0 after the register has been read.
    
    Returns:
    
    Current interrupt status
    
    See Also:
    
    MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT
  - getIntMotionStatus
```
public boolean getIntMotionStatus()
```
    Get Motion Detection interrupt status. This bit automatically sets to 1 when a Motion Detection interrupt has been generated. The bit clears to 0 after the register has been read.
    
    Returns:
    
    Current interrupt status
    
    See Also:
    
    MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT
  - getIntZeroMotionStatus
```
public boolean getIntZeroMotionStatus()
```
    Get Zero Motion Detection interrupt status. This bit automatically sets to 1 when a Zero Motion Detection interrupt has been generated. The bit clears to 0 after the register has been read.
    
    Returns:
    
    Current interrupt status
    
    See Also:
    
    MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT
  - getIntFIFOBufferOverflowStatus
```
public boolean getIntFIFOBufferOverflowStatus()
```
    Get FIFO Buffer Overflow interrupt status. This bit automatically sets to 1 when a Free Fall interrupt has been generated. The bit clears to 0 after the register has been read.
    
    Returns:
    
    Current interrupt status
    
    See Also:
    
    MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT
  - getIntI2CMasterStatus
```
public boolean getIntI2CMasterStatus()
```
    Get I2C Master interrupt status. This bit automatically sets to 1 when an I2C Master interrupt has been generated. For a list of I2C Master interrupts, please refer to Register 54. The bit clears to 0 after the register has been read.
    
    Returns:
    
    Current interrupt status
    
    See Also:
    
    MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT
  - getIntDataReadyStatus
```
public boolean getIntDataReadyStatus()
```
    Get Data Ready interrupt status. This bit automatically sets to 1 when a Data Ready interrupt has been generated. The bit clears to 0 after the register has been read.
    
    Returns:
    
    Current interrupt status
    
    See Also:
    
    MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT
  - getMotion9
```
public short[] getMotion9()
```
    Get raw 9-axis motion sensor readings (accel/gyro/compass). FUNCTION NOT FULLY IMPLEMENTED YET.
    Returns:
    an array of short values containing the accel/gyro/compass values.
    0 - accelerometer X-axis value
    1 - accelerometer Y-axis value
    2 - accelerometer Z-axis value
    3 - gyroscope X-axis value
    4 - gyroscope Y-axis value
    5 - gyroscope Z-axis value
    6 - magnetometer X-axis value
    7 - magnetometer Y-axis value
    8 - magnetometer Z-axis value
    See Also:
    
    getMotion6(), getAcceleration(), getRotation(), MPU6050_RA_ACCEL_XOUT_H
  - getMotion6
```
public short[] getMotion6()
```
    Get raw 6-axis motion sensor readings (accel/gyro). Retrieves all currently available motion sensor values.
    Returns:
    an array of short values containing the accel/gyro values.
    0 - accelerometer X-axis value
    1 - accelerometer Y-axis value
    2 - accelerometer Z-axis value
    3 - gyroscope X-axis value
    4 - gyroscope Y-axis value
    5 - gyroscope Z-axis value
    See Also:
    
    getAcceleration(), getRotation(), MPU6050_RA_ACCEL_XOUT_H
  - getAcceleration
```
public double[] getAcceleration()
```
    Get 3-axis accelerometer readings. These registers store the most recent accelerometer measurements. Accelerometer measurements are written to these registers at the Sample Rate as defined in Register 25. The accelerometer measurement registers, along with the temperature measurement registers, gyroscope measurement registers, and external sensor data registers, are composed of two sets of registers: an internal register set and a user-facing read register set. The data within the accelerometer sensors' internal register set is always updated at the Sample Rate. Meanwhile, the user-facing read register set duplicates the internal register set's data values whenever the serial interface is idle. This guarantees that a burst read of sensor registers will read measurements from the same sampling instant. Note that if burst reads are not used, the user is responsible for ensuring a set of single byte reads correspond to a single sampling instant by checking the Data Ready interrupt. Each 16-bit accelerometer measurement has a full scale defined in ACCEL_FS (Register 28). For each full scale setting, the accelerometers' sensitivity per LSB in ACCEL_xOUT is shown in the table below:
```
 AFS_SEL | Full Scale Range | LSB Sensitivity
 --------+------------------+----------------
 0       | +/- 2g           | 8192 LSB/mg
 1       | +/- 4g           | 4096 LSB/mg
 2       | +/- 8g           | 2048 LSB/mg
 3       | +/- 16g          | 1024 LSB/mg
 
```
    Returns:
    an array of short values containing the accel values.
    0 - accelerometer X-axis value
    1 - accelerometer Y-axis value
    2 - accelerometer Z-axis value
    See Also:
    
    MPU6050_RA_GYRO_XOUT_H
  - getAccelerationX
```
public double getAccelerationX()
```
    Get X-axis accelerometer reading.
    
    Returns:
    
    X-axis acceleration measurement in 16-bit 2's complement format
    
    See Also:
    
    getMotion6(), MPU6050_RA_ACCEL_XOUT_H
  - getAccelerationY
```
public double getAccelerationY()
```
    Get Y-axis accelerometer reading.
    
    Returns:
    
    Y-axis acceleration measurement in 16-bit 2's complement format
    
    See Also:
    
    getMotion6(), MPU6050_RA_ACCEL_YOUT_H
  - getAccelerationZ
```
public double getAccelerationZ()
```
    Get Z-axis accelerometer reading.
    
    Returns:
    
    Z-axis acceleration measurement in 16-bit 2's complement format
    
    See Also:
    
    getMotion6(), MPU6050_RA_ACCEL_ZOUT_H
  - getTemperature
```
public double getTemperature()
```
    Get current internal temperature.
    
    Returns:
    
    Temperature reading in 16-bit 2's complement format
    
    See Also:
    
    MPU6050_RA_TEMP_OUT_H
  - getRotation
```
public double[] getRotation()
```
    Get 3-axis gyroscope readings. These gyroscope measurement registers, along with the accelerometer measurement registers, temperature measurement registers, and external sensor data registers, are composed of two sets of registers: an internal register set and a user-facing read register set. The data within the gyroscope sensors' internal register set is always updated at the Sample Rate. Meanwhile, the user-facing read register set duplicates the internal register set's data values whenever the serial interface is idle. This guarantees that a burst read of sensor registers will read measurements from the same sampling instant. Note that if burst reads are not used, the user is responsible for ensuring a set of single byte reads correspond to a single sampling instant by checking the Data Ready interrupt. Each 16-bit gyroscope measurement has a full scale defined in FS_SEL (Register 27). For each full scale setting, the gyroscopes' sensitivity per LSB in GYRO_xOUT is shown in the table below:
```
 FS_SEL | Full Scale Range   | LSB Sensitivity
 -------+--------------------+----------------
 0      | +/- 250 degrees/s  | 131 LSB/deg/s
 1      | +/- 500 degrees/s  | 65.5 LSB/deg/s
 2      | +/- 1000 degrees/s | 32.8 LSB/deg/s
 3      | +/- 2000 degrees/s | 16.4 LSB/deg/s
 
```
    Returns:
    
    an array of shorts containing x, y, and z rotation values.
    
    See Also:
    
    getMotion6(), MPU6050_RA_GYRO_XOUT_H
  - getRotationX
```
public short getRotationX()
```
    Get X-axis gyroscope reading.
    
    Returns:
    
    X-axis rotation measurement in 16-bit 2's complement format
    
    See Also:
    
    getMotion6(), MPU6050_RA_GYRO_XOUT_H
  - getRotationY
```
public short getRotationY()
```
    Get Y-axis gyroscope reading.
    
    Returns:
    
    Y-axis rotation measurement in 16-bit 2's complement format
    
    See Also:
    
    getMotion6(), MPU6050_RA_GYRO_YOUT_H
  - getRotationZ
```
public short getRotationZ()
```
    Get Z-axis gyroscope reading.
    
    Returns:
    
    Z-axis rotation measurement in 16-bit 2's complement format
    
    See Also:
    
    getMotion6(), MPU6050_RA_GYRO_ZOUT_H
  - getExternalSensorByte
```
public byte getExternalSensorByte(int position)
```
    Read single byte from external sensor data register. These registers store data read from external sensors by the Slave 0, 1, 2, and 3 on the auxiliary I2C interface. Data read by Slave 4 is stored in I2C_SLV4_DI (Register 53). External sensor data is written to these registers at the Sample Rate as defined in Register 25. This access rate can be reduced by using the Slave Delay Enable registers (Register 103). External sensor data registers, along with the gyroscope measurement registers, accelerometer measurement registers, and temperature measurement registers, are composed of two sets of registers: an internal register set and a user-facing read register set. The data within the external sensors' internal register set is always updated at the Sample Rate (or the reduced access rate) whenever the serial interface is idle. This guarantees that a burst read of sensor registers will read measurements from the same sampling instant. Note that if burst reads are not used, the user is responsible for ensuring a set of single byte reads correspond to a single sampling instant by checking the Data Ready interrupt. Data is placed in these external sensor data registers according to I2C_SLV0_CTRL, I2C_SLV1_CTRL, I2C_SLV2_CTRL, and I2C_SLV3_CTRL (Registers 39, 42, 45, and 48). When more than zero bytes are read (I2C_SLVx_LEN > 0) from an enabled slave (I2C_SLVx_EN = 1), the slave is read at the Sample Rate (as defined in Register 25) or delayed rate (if specified in Register 52 and 103). During each Sample cycle, slave reads are performed in order of Slave number. If all slaves are enabled with more than zero bytes to be read, the order will be Slave 0, followed by Slave 1, Slave 2, and Slave 3. Each enabled slave will have EXT_SENS_DATA registers associated with it by number of bytes read (I2C_SLVx_LEN) in order of slave number, starting from EXT_SENS_DATA_00. Note that this means enabling or disabling a slave may change the higher numbered slaves' associated registers. Furthermore, if fewer total bytes are being read from the external sensors as a result of such a change, then the data remaining in the registers which no longer have an associated slave device (i.e. high numbered registers) will remain in these previously allocated registers unless reset. If the sum of the read lengths of all SLVx transactions exceed the number of available EXT_SENS_DATA registers, the excess bytes will be dropped. There are 24 EXT_SENS_DATA registers and hence the total read lengths between all the slaves cannot be greater than 24 or some bytes will be lost. Note: Slave 4's behavior is distinct from that of Slaves 0-3. For further information regarding the characteristics of Slave 4, please refer to Registers 49 to 53. EXAMPLE: Suppose that Slave 0 is enabled with 4 bytes to be read (I2C_SLV0_EN = 1 and I2C_SLV0_LEN = 4) while Slave 1 is enabled with 2 bytes to be read so that I2C_SLV1_EN = 1 and I2C_SLV1_LEN = 2. In such a situation, EXT_SENS_DATA _00 through _03 will be associated with Slave 0, while EXT_SENS_DATA _04 and 05 will be associated with Slave 1. If Slave 2 is enabled as well, registers starting from EXT_SENS_DATA_06 will be allocated to Slave 2. If Slave 2 is disabled while Slave 3 is enabled in this same situation, then registers starting from EXT_SENS_DATA_06 will be allocated to Slave 3 instead. REGISTER ALLOCATION FOR DYNAMIC DISABLE VS. NORMAL DISABLE: If a slave is disabled at any time, the space initially allocated to the slave in the EXT_SENS_DATA register, will remain associated with that slave. This is to avoid dynamic adjustment of the register allocation. The allocation of the EXT_SENS_DATA registers is recomputed only when (1) all slaves are disabled, or (2) the I2C_MST_RST bit is set (Register 106). This above is also true if one of the slaves gets NACKed and stops functioning.
    
    Parameters:
    
    position - Starting position (0-23)
    
    Returns:
    
    Byte read from register
  - getExternalSensorWord
```
public short getExternalSensorWord(int position)
```
    Read word (2 bytes) from external sensor data registers.
    
    Parameters:
    
    position - Starting position (0-21)
    
    Returns:
    
    Word read from register
    
    See Also:
    
    getExternalSensorByte(int)
  - getExternalSensorDWord
```
public int getExternalSensorDWord(int position)
```
    Read double word (4 bytes) from external sensor data registers.
    
    Parameters:
    
    position - Starting position (0-20)
    
    Returns:
    
    Double word read from registers
    
    See Also:
    
    getExternalSensorByte(int)
  - getXNegMotionDetected
```
public boolean getXNegMotionDetected()
```
    Get X-axis negative motion detection interrupt status.
    
    Returns:
    
    Motion detection status
    
    See Also:
    
    MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT
  - getXPosMotionDetected
```
public boolean getXPosMotionDetected()
```
    Get X-axis positive motion detection interrupt status.
    
    Returns:
    
    Motion detection status
    
    See Also:
    
    MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT
  - getYNegMotionDetected
```
public boolean getYNegMotionDetected()
```
    Get Y-axis negative motion detection interrupt status.
    
    Returns:
    
    Motion detection status
    
    See Also:
    
    MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT
  - getYPosMotionDetected
```
public boolean getYPosMotionDetected()
```
    Get Y-axis positive motion detection interrupt status.
    
    Returns:
    
    Motion detection status
    
    See Also:
    
    MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT
  - getZNegMotionDetected
```
public boolean getZNegMotionDetected()
```
    Get Z-axis negative motion detection interrupt status.
    
    Returns:
    
    Motion detection status
    
    See Also:
    
    MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT
  - getZPosMotionDetected
```
public boolean getZPosMotionDetected()
```
    Get Z-axis positive motion detection interrupt status.
    
    Returns:
    
    Motion detection status
    
    See Also:
    
    MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT
  - getZeroMotionDetected
```
public boolean getZeroMotionDetected()
```
    Get zero motion detection interrupt status.
    
    Returns:
    
    Motion detection status
    
    See Also:
    
    MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT
  - setSlaveOutputByte
```
public void setSlaveOutputByte(byte num,
                               byte data)
```
    Write byte to Data Output container for specified slave. This register holds the output data written into Slave when Slave is set to write mode. For further information regarding Slave control, please refer to Registers 37 to 39 and immediately following.
    
    Parameters:
    
    num - Slave number (0-3)
    
    data - Byte to write
    
    See Also:
    
    MPU6050_RA_I2C_SLV0_DO
  - getExternalShadowDelayEnabled
```
public boolean getExternalShadowDelayEnabled()
```
    Get external data shadow delay enabled status. This register is used to specify the timing of external sensor data shadowing. When DELAY_ES_SHADOW is set to 1, shadowing of external sensor data is delayed until all data has been received.
    
    Returns:
    
    Current external data shadow delay enabled status.
    
    See Also:
    
    MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
  - setExternalShadowDelayEnabled
```
public void setExternalShadowDelayEnabled(boolean enabled)
```
    Set external data shadow delay enabled status.
    
    Parameters:
    
    enabled - New external data shadow delay enabled status.
    
    See Also:
    
    getExternalShadowDelayEnabled(), MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT
  - getSlaveDelayEnabled
```
public boolean getSlaveDelayEnabled(byte num)
```
    Get slave delay enabled status. When a particular slave delay is enabled, the rate of access for the that slave device is reduced. When a slave's access rate is decreased relative to the Sample Rate, the slave is accessed every: 1 / (1 + I2C_MST_DLY) Samples This base Sample Rate in turn is determined by SMPLRT_DIV (register * 25) and DLPF_CFG (register 26). For further information regarding I2C_MST_DLY, please refer to register 52. For further information regarding the Sample Rate, please refer to register 25.
    
    Parameters:
    
    num - Slave number (0-4)
    
    Returns:
    
    Current slave delay enabled status.
    
    See Also:
    
    MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
  - setSlaveDelayEnabled
```
public void setSlaveDelayEnabled(byte num,
                                 boolean enabled)
```
    Set slave delay enabled status.
    
    Parameters:
    
    num - Slave number (0-4)
    
    enabled - New slave delay enabled status.
    
    See Also:
    
    MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
  - resetGyroscopePath
```
public void resetGyroscopePath()
```
    Reset gyroscope signal path. The reset will revert the signal path analog to digital converters and filters to their power up configurations.
    
    See Also:
    
    MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT
  - resetAccelerometerPath
```
public void resetAccelerometerPath()
```
    Reset accelerometer signal path. The reset will revert the signal path analog to digital converters and filters to their power up configurations.
    
    See Also:
    
    MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT
  - resetTemperaturePath
```
public void resetTemperaturePath()
```
    Reset temperature sensor signal path. The reset will revert the signal path analog to digital converters and filters to their power up configurations.
    
    See Also:
    
    MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT
  - getAccelerometerPowerOnDelay
```
public byte getAccelerometerPowerOnDelay()
```
    Get accelerometer power-on delay. The accelerometer data path provides samples to the sensor registers, Motion detection, Zero Motion detection, and Free Fall detection modules. The signal path contains filters which must be flushed on wake-up with new samples before the detection modules begin operations. The default wake-up delay, of 4ms can be lengthened by up to 3ms. This additional delay is specified in ACCEL_ON_DELAY in units of 1 LSB = 1 ms. The user may select any value above zero unless instructed otherwise by InvenSense. Please refer to Section 8 of the MPU-6000/MPU-6050 Product Specification document for further information regarding the detection modules.
    
    Returns:
    
    Current accelerometer power-on delay
    
    See Also:
    
    MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT
  - setAccelerometerPowerOnDelay
```
public void setAccelerometerPowerOnDelay(byte delay)
```
    Set accelerometer power-on delay.
    
    Parameters:
    
    delay - New accelerometer power-on delay (0-3)
    
    See Also:
    
    getAccelerometerPowerOnDelay(), MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT
  - getFreefallDetectionCounterDecrement
```
public byte getFreefallDetectionCounterDecrement()
```
    Get Free Fall detection counter decrement configuration. Detection is registered by the Free Fall detection module after accelerometer measurements meet their respective threshold conditions over a specified number of samples. When the threshold conditions are met, the corresponding detection counter increments by 1. The user may control the rate at which the detection counter decrements when the threshold condition is not met by configuring FF_COUNT. The decrement rate can be set according to the following table:
```
 FF_COUNT | Counter Decrement
 ---------+------------------
 0        | Reset
 1        | 1
 2        | 2
 3        | 4
 
```
    When FF_COUNT is configured to 0 (reset), any non-qualifying sample will reset the counter to 0. For further information on Free Fall detection, please refer to Registers 29 to 32.
    Returns:
    
    Current decrement configuration
    
    See Also:
    
    MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT
  - setFreefallDetectionCounterDecrement
```
public void setFreefallDetectionCounterDecrement(byte decrement)
```
    Set Free Fall detection counter decrement configuration.
    
    Parameters:
    
    decrement - New decrement configuration value
    
    See Also:
    
    getFreefallDetectionCounterDecrement(), MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT
  - getMotionDetectionCounterDecrement
```
public byte getMotionDetectionCounterDecrement()
```
    Get Motion detection counter decrement configuration. Detection is registered by the Motion detection module after accelerometer measurements meet their respective threshold conditions over a specified number of samples. When the threshold conditions are met, the corresponding detection counter increments by 1. The user may control the rate at which the detection counter decrements when the threshold condition is not met by configuring MOT_COUNT. The decrement rate can be set according to the following table:
```
 MOT_COUNT | Counter Decrement
 ----------+------------------
 0         | Reset
 1         | 1
 2         | 2
 3         | 4
 
```
    When MOT_COUNT is configured to 0 (reset), any non-qualifying sample will reset the counter to 0. For further information on Motion detection, please refer to Registers 29 to 32.
  - setMotionDetectionCounterDecrement
```
public void setMotionDetectionCounterDecrement(byte decrement)
```
    Set Motion detection counter decrement configuration.
    
    Parameters:
    
    decrement - New decrement configuration value
    
    See Also:
    
    getMotionDetectionCounterDecrement(), MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT
  - getFIFOEnabled
```
public boolean getFIFOEnabled()
```
    Get FIFO enabled status. When this bit is set to 0, the FIFO buffer is disabled. The FIFO buffer cannot be written to or read from while disabled. The FIFO buffer's state does not change unless the MPU-60X0 is power cycled.
    
    Returns:
    
    Current FIFO enabled status
    
    See Also:
    
    MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT
  - setFIFOEnabled
```
public void setFIFOEnabled(boolean enabled)
```
    Set FIFO enabled status.
    
    Parameters:
    
    enabled - New FIFO enabled status
    
    See Also:
    
    getFIFOEnabled(), MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT
  - getI2CMasterModeEnabled
```
public boolean getI2CMasterModeEnabled()
```
    Get I2C Master Mode enabled status. When this mode is enabled, the MPU-60X0 acts as the I2C Master to the external sensor slave devices on the auxiliary I2C bus. When this bit is cleared to 0, the auxiliary I2C bus lines (AUX_DA and AUX_CL) are logically driven by the primary I2C bus (SDA and SCL). This is a precondition to enabling Bypass Mode. For further information regarding Bypass Mode, please refer to Register 55.
    
    Returns:
    
    Current I2C Master Mode enabled status
    
    See Also:
    
    MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT
  - setI2CMasterModeEnabled
```
public void setI2CMasterModeEnabled(boolean enabled)
```
    Set I2C Master Mode enabled status.
    
    Parameters:
    
    enabled - New I2C Master Mode enabled status
    
    See Also:
    
    getI2CMasterModeEnabled(), MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT
  - switchSPIEnabled
```
public void switchSPIEnabled(boolean enabled)
```
    Switch from I2C to SPI mode (MPU-6000 only) If this is set, the primary SPI interface will be enabled in place of the disabled primary I2C interface.
  - resetFIFO
```
public void resetFIFO()
```
    Reset the FIFO. This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This bit automatically clears to 0 after the reset has been triggered.
    
    See Also:
    
    MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT
  - resetI2CMaster
```
public void resetI2CMaster()
```
    Reset the I2C Master. This bit resets the I2C Master when set to 1 while I2C_MST_EN equals 0. This bit automatically clears to 0 after the reset has been triggered.
    
    See Also:
    
    MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT
  - resetSensors
```
public void resetSensors()
```
    Reset all sensor registers and signal paths. When set to 1, this bit resets the signal paths for all sensors (gyroscopes, accelerometers, and temperature sensor). This operation will also clear the sensor registers. This bit automatically clears to 0 after the reset has been triggered. When resetting only the signal path (and not the sensor registers), please use Register 104, SIGNAL_PATH_RESET.
    
    See Also:
    
    MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT
  - reset
```
public void reset()
```
    Trigger a full device reset. A small delay of ~50ms may be desirable after triggering a reset.
    
    See Also:
    
    MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT
  - getSleepEnabled
```
public boolean getSleepEnabled()
```
    Get sleep mode status. Setting the SLEEP bit in the register puts the device into very low power sleep mode. In this mode, only the serial interface and internal registers remain active, allowing for a very low standby current. Clearing this bit puts the device back into normal mode. To save power, the individual standby selections for each of the gyros should be used if any gyro axis is not used by the application.
    
    Returns:
    
    Current sleep mode enabled status
    
    See Also:
    
    MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT
  - setSleepEnabled
```
public void setSleepEnabled(boolean enabled)
```
    Set sleep mode status.
    
    Parameters:
    
    enabled - New sleep mode enabled status
    
    See Also:
    
    getSleepEnabled(), MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT
  - getWakeCycleEnabled
```
public boolean getWakeCycleEnabled()
```
    Get wake cycle enabled status. When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle between sleep mode and waking up to take a single sample of data from active sensors at a rate determined by LP_WAKE_CTRL (register 108).
    
    Returns:
    
    Current sleep mode enabled status
    
    See Also:
    
    MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT
  - setWakeCycleEnabled
```
public void setWakeCycleEnabled(boolean enabled)
```
    Set wake cycle enabled status.
    
    Parameters:
    
    enabled - New sleep mode enabled status
    
    See Also:
    
    getWakeCycleEnabled(), MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT
  - getTempSensorEnabled
```
public boolean getTempSensorEnabled()
```
    Get temperature sensor enabled status. Control the usage of the internal temperature sensor. Note: this register stores the *disabled* value, but for consistency with the rest of the code, the function is named and used with standard true/false values to indicate whether the sensor is enabled or disabled, respectively.
    
    Returns:
    
    Current temperature sensor enabled status
    
    See Also:
    
    MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT
  - setTempSensorEnabled
```
public void setTempSensorEnabled(boolean enabled)
```
    Set temperature sensor enabled status. Note: this register stores the *disabled* value, but for consistency with the rest of the code, the function is named and used with standard true/false values to indicate whether the sensor is enabled or disabled, respectively.
    
    Parameters:
    
    enabled - New temperature sensor enabled status
    
    See Also:
    
    getTempSensorEnabled(), MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT
  - getClockSource
```
public MPU6050.GyroClockSource getClockSource()
```
    Get clock source setting.
    
    Returns:
    
    Current clock source setting
    
    See Also:
    
    MPU6050.GyroClockSource, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH
  - setClockSource
```
public void setClockSource(MPU6050.GyroClockSource source)
```
    Set clock source setting. An internal 8MHz oscillator, gyroscope based clock, or external sources can be selected as the MPU-60X0 clock source. When the internal 8 MHz oscillator or an external source is chosen as the clock source, the MPU-60X0 can operate in low power modes with the gyroscopes disabled. Upon power up, the MPU-60X0 clock source defaults to the internal oscillator. However, it is highly recommended that the device be configured to use one of the gyroscopes (or an external clock source) as the clock reference for improved stability.
    
    Parameters:
    
    source - New clock source setting
    
    See Also:
    
    getClockSource(), MPU6050.GyroClockSource, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH
  - getWakeFrequency
```
public byte getWakeFrequency()
```
    Get wake frequency in Accel-Only Low Power Mode. The MPU-60X0 can be put into Accerlerometer Only Low Power Mode by setting PWRSEL to 1 in the Power Management 1 register (Register 107). In this mode, the device will power off all devices except for the primary I2C interface, waking only the accelerometer at fixed intervals to take a single measurement. The frequency of wake-ups can be configured with LP_WAKE_CTRL as shown below:
```
 LP_WAKE_CTRL | Wake-up Frequency
 -------------+------------------
 0            | 1.25 Hz
 1            | 2.5 Hz
 2            | 5 Hz
 3            | 10 Hz
 
 For further information regarding the MPU-60X0's power modes, please refer to
 Register 107.
```
    Returns:
    
    Current wake frequency
    
    See Also:
    
    MPU6050_RA_PWR_MGMT_2
  - setWakeFrequency
```
public void setWakeFrequency(byte frequency)
```
    Set wake frequency in Accel-Only Low Power Mode.
    
    Parameters:
    
    frequency - New wake frequency
    
    See Also:
    
    MPU6050_RA_PWR_MGMT_2
  - getStandbyXAccelEnabled
```
public boolean getStandbyXAccelEnabled()
```
    Get X-axis accelerometer standby enabled status. If enabled, the X-axis will not gather or report data (or use power).
    
    Returns:
    
    Current X-axis standby enabled status
    
    See Also:
    
    MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT
  - setStandbyXAccelEnabled
```
public void setStandbyXAccelEnabled(boolean enabled)
```
    Set X-axis accelerometer standby enabled status.
    
    Parameters:
    
    enabled - New X-axis standby enabled status
    
    See Also:
    
    getStandbyXAccelEnabled(), MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT
  - getStandbyYAccelEnabled
```
public boolean getStandbyYAccelEnabled()
```
    Get Y-axis accelerometer standby enabled status. If enabled, the Y-axis will not gather or report data (or use power).
    
    Returns:
    
    Current Y-axis standby enabled status
    
    See Also:
    
    MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT
  - setStandbyYAccelEnabled
```
public void setStandbyYAccelEnabled(boolean enabled)
```
    Set Y-axis accelerometer standby enabled status.
    
    Parameters:
    
    enabled - New Y-axis standby enabled status
    
    See Also:
    
    getStandbyYAccelEnabled(), MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT
  - getStandbyZAccelEnabled
```
public boolean getStandbyZAccelEnabled()
```
    Get Z-axis accelerometer standby enabled status. If enabled, the Z-axis will not gather or report data (or use power).
    
    Returns:
    
    Current Z-axis standby enabled status
    
    See Also:
    
    MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT
  - setStandbyZAccelEnabled
```
public void setStandbyZAccelEnabled(boolean enabled)
```
    Set Z-axis accelerometer standby enabled status.
    
    Parameters:
    
    enabled - New Z-axis standby enabled status
    
    See Also:
    
    getStandbyZAccelEnabled(), MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT
  - getStandbyXGyroEnabled
```
public boolean getStandbyXGyroEnabled()
```
    Get X-axis gyroscope standby enabled status. If enabled, the X-axis will not gather or report data (or use power).
    
    Returns:
    
    Current X-axis standby enabled status
    
    See Also:
    
    MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT
  - setStandbyXGyroEnabled
```
public void setStandbyXGyroEnabled(boolean enabled)
```
    Set X-axis gyroscope standby enabled status.
    
    Parameters:
    
    enabled - New X-axis standby enabled status
    
    See Also:
    
    getStandbyXGyroEnabled(), MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT
  - getStandbyYGyroEnabled
```
public boolean getStandbyYGyroEnabled()
```
    Get Y-axis gyroscope standby enabled status. If enabled, the Y-axis will not gather or report data (or use power).
    
    Returns:
    
    Current Y-axis standby enabled status
    
    See Also:
    
    MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT
  - setStandbyYGyroEnabled
```
public void setStandbyYGyroEnabled(boolean enabled)
```
    Set Y-axis gyroscope standby enabled status.
    
    Parameters:
    
    enabled - New Y-axis standby enabled status
    
    See Also:
    
    getStandbyYGyroEnabled(), MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT
  - getStandbyZGyroEnabled
```
public boolean getStandbyZGyroEnabled()
```
    Get Z-axis gyroscope standby enabled status. If enabled, the Z-axis will not gather or report data (or use power).
    
    Returns:
    
    Current Z-axis standby enabled status
    
    See Also:
    
    MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT
  - setStandbyZGyroEnabled
```
public void setStandbyZGyroEnabled(boolean enabled)
```
    Set Z-axis gyroscope standby enabled status.
    
    Parameters:
    
    enabled - New Z-axis standby enabled status
    
    See Also:
    
    getStandbyZGyroEnabled(), MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT
  - getFIFOCount
```
public short getFIFOCount()
```
    Get current FIFO buffer size. This value indicates the number of bytes stored in the FIFO buffer. This number is in turn the number of bytes that can be read from the FIFO buffer and it is directly proportional to the number of samples available given the set of sensor data bound to be stored in the FIFO (register 35 and 36).
    
    Returns:
    
    Current FIFO buffer size
  - getFIFOByte
```
public byte getFIFOByte()
```
    Get byte from FIFO buffer. This register is used to read and write data from the FIFO buffer. Data is written to the FIFO in order of register number (from lowest to highest). If all the FIFO enable flags (see below) are enabled and all External Sensor Data registers (Registers 73 to 96) are associated with a Slave device, the contents of registers 59 through 96 will be written in order at the Sample Rate. The contents of the sensor data registers (Registers 59 to 96) are written into the FIFO buffer when their corresponding FIFO enable flags are set to 1 in FIFO_EN (Register 35). An additional flag for the sensor data registers associated with I2C Slave 3 can be found in I2C_MST_CTRL (Register 36). If the FIFO buffer has overflowed, the status bit FIFO_OFLOW_INT is automatically set to 1. This bit is located in INT_STATUS (Register 58). When the FIFO buffer has overflowed, the oldest data will be lost and new data will be written to the FIFO. If the FIFO buffer is empty, reading this register will return the last byte that was previously read from the FIFO until new data is available. The user should check FIFO_COUNT to ensure that the FIFO buffer is not read when empty.
    
    Returns:
    
    Byte from FIFO buffer
  - getFIFOBytes
```
public void getFIFOBytes(byte[] data,
                         short length)
```
  - setFIFOByte
```
public void setFIFOByte(byte data)
```
    Write byte to FIFO buffer.
    
    See Also:
    
    getFIFOByte(), MPU6050_RA_FIFO_R_W
  - getDeviceID
```
public byte getDeviceID()
```
    Get Device ID. This register is used to verify the identity of the device (0b110100, 0x34).
    
    Returns:
    
    Device ID (6 bits only! should be 0x34)
    
    See Also:
    
    MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH
  - setDeviceID
```
public void setDeviceID(byte id)
```
    Set Device ID. Write a new ID into the WHO_AM_I register (no idea why this should ever be necessary though).
    
    Parameters:
    
    id - New device ID to set.
    
    See Also:
    
    getDeviceID(), MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH
  - getOTPBankValid
```
public byte getOTPBankValid()
```
  - setOTPBankValid
```
public void setOTPBankValid(boolean enabled)
```
  - getXGyroOffsetTC
```
public byte getXGyroOffsetTC()
```
  - setXGyroOffsetTC
```
public void setXGyroOffsetTC(byte offset)
```
  - getYGyroOffsetTC
```
public byte getYGyroOffsetTC()
```
  - setYGyroOffsetTC
```
public void setYGyroOffsetTC(byte offset)
```
  - getZGyroOffsetTC
```
public byte getZGyroOffsetTC()
```
  - setZGyroOffsetTC
```
public void setZGyroOffsetTC(byte offset)
```
  - getXFineGain
```
public byte getXFineGain()
```
  - setXFineGain
```
public void setXFineGain(byte gain)
```
  - getYFineGain
```
public byte getYFineGain()
```
  - setYFineGain
```
public void setYFineGain(byte gain)
```
  - getZFineGain
```
public byte getZFineGain()
```
  - setZFineGain
```
public void setZFineGain(byte gain)
```
  - getXAccelOffset
```
public short getXAccelOffset()
```
  - setXAccelOffset
```
public void setXAccelOffset(int offset)
```
  - getYAccelOffset
```
public short getYAccelOffset()
```
  - setYAccelOffset
```
public void setYAccelOffset(int offset)
```
  - getZAccelOffset
```
public short getZAccelOffset()
```
  - setZAccelOffset
```
public void setZAccelOffset(int offset)
```
  - getXGyroOffset
```
public short getXGyroOffset()
```
  - setXGyroOffset
```
public void setXGyroOffset(int offset)
```
  - getYGyroOffset
```
public short getYGyroOffset()
```
  - setYGyroOffset
```
public void setYGyroOffset(int offset)
```
  - getZGyroOffset
```
public short getZGyroOffset()
```
  - setZGyroOffset
```
public void setZGyroOffset(int offset)
```
  - getIntPLLReadyEnabled
```
public boolean getIntPLLReadyEnabled()
```
  - setIntPLLReadyEnabled
```
public void setIntPLLReadyEnabled(boolean enabled)
```
  - getIntDMPEnabled
```
public boolean getIntDMPEnabled()
```
  - setIntDMPEnabled
```
public void setIntDMPEnabled(boolean enabled)
```
  - getDMPInt5Status
```
public boolean getDMPInt5Status()
```
  - getDMPInt4Status
```
public boolean getDMPInt4Status()
```
  - getDMPInt3Status
```
public boolean getDMPInt3Status()
```
  - getDMPInt2Status
```
public boolean getDMPInt2Status()
```
  - getDMPInt1Status
```
public boolean getDMPInt1Status()
```
  - getDMPInt0Status
```
public boolean getDMPInt0Status()
```
  - getIntPLLReadyStatus
```
public boolean getIntPLLReadyStatus()
```
  - getIntDMPStatus
```
public boolean getIntDMPStatus()
```
  - getDMPEnabled
```
public boolean getDMPEnabled()
```
  - setDMPEnabled
```
public void setDMPEnabled(boolean enabled)
```
    Enable the Digital Motion Processor (DMP/DMPU)
    
    Parameters:
    
    enabled -
  - resetDMP
```
public void resetDMP()
```
  - setMemoryBank
```
public void setMemoryBank(byte bank,
                          boolean prefetchEnabled,
                          boolean userBank)
```
  - setMemoryBank
```
public void setMemoryBank(byte bank)
```
  - setMemoryStartAddress
```
public void setMemoryStartAddress(byte address)
```
  - readMemoryByte
```
public byte readMemoryByte()
```
  - writeMemoryByte
```
public void writeMemoryByte(byte data)
```
  - readMemoryBlock
```
public void readMemoryBlock(byte[] data,
                            short dataSize,
                            byte bank,
                            byte address)
```
  - writeMemoryBlock
```
public boolean writeMemoryBlock(byte[] data,
                                short dataSize,
                                byte bank,
                                byte address,
                                boolean verify)
```
  - writeProgMemoryBlock
```
public boolean writeProgMemoryBlock(byte[] data,
                                    short dataSize,
                                    byte bank,
                                    byte address,
                                    boolean verify)
```
  - writeDMPConfigurationSet
```
public boolean writeDMPConfigurationSet(byte[] data,
                                        short dataSize)
```
  - writeProgDMPConfigurationSet
```
public boolean writeProgDMPConfigurationSet(byte[] data,
                                            short dataSize)
```
  - dmpInitialize
```
public byte dmpInitialize()
```
  - dmpPacketAvailable
```
boolean dmpPacketAvailable()
```
  - dmpGetAccel
```
public byte dmpGetAccel(int[] data,
                        byte[] packet)
```
  - dmpGetAccel
```
public byte dmpGetAccel(short[] data,
                        byte[] packet)
```
  - dmpGetAccel
```
public byte dmpGetAccel(VectorInt16 v,
                        byte[] packet)
```
  - dmpGetQuaternion
```
public byte dmpGetQuaternion(int[] data,
                             byte[] packet)
```
  - dmpGetQuaternion
```
public byte dmpGetQuaternion(short[] data,
                             byte[] packet)
```
  - dmpGetQuaternion
```
public byte dmpGetQuaternion(Quaternion q,
                             byte[] packet)
```
  - dmpGetGyro
```
public byte dmpGetGyro(int[] data,
                       byte[] packet)
```
  - dmpGetGyro
```
public byte dmpGetGyro(short[] data,
                       byte[] packet)
```
  - dmpGetGyro
```
public byte dmpGetGyro(VectorInt16 v,
                       byte[] packet)
```
  - dmpGetLinearAccel
```
public byte dmpGetLinearAccel(VectorInt16 v,
                              VectorInt16 vRaw,
                              VectorDouble gravity)
```
  - dmpGetLinearAccelInWorld
```
public byte dmpGetLinearAccelInWorld(VectorInt16 v,
                                     VectorInt16 vReal,
                                     Quaternion q)
```
  - dmpGetGravity
```
public byte dmpGetGravity(VectorDouble v,
                          Quaternion q)
```
  - dmpGetEuler
```
public byte dmpGetEuler(double[] data,
                        Quaternion q)
```
  - dmpGetYawPitchRoll
```
public byte dmpGetYawPitchRoll(double[] data,
                               Quaternion q,
                               VectorDouble gravity)
```
  - dmpProcessFIFOPacket
```
public byte dmpProcessFIFOPacket(byte[] dmpData)
```
  - dmpReadAndProcessFIFOPacket
```
public byte dmpReadAndProcessFIFOPacket(byte numPackets,
                                        byte processed)
```
  - dmpGetFIFOPacketSize
```
public short dmpGetFIFOPacketSize()
```
  - getDMPConfig1
```
public byte getDMPConfig1()
```
  - setDMPConfig1
```
public void setDMPConfig1(byte config)
```
  - getDMPConfig2
```
public byte getDMPConfig2()
```
  - setDMPConfig2
```
public void setDMPConfig2(byte config)
```

Class MPU6050

Nested Class Summary

Nested classes/interfaces inherited from class io.github.robolib.module.iface.I2C

Nested classes/interfaces inherited from class io.github.robolib.module.iface.Interface

Nested classes/interfaces inherited from interface io.github.robolib.module.sensor.IAccelerometer

Field Summary

Fields inherited from class io.github.robolib.module.iface.I2C

Fields inherited from class io.github.robolib.module.iface.Interface

Constructor Summary

Method Summary

Methods inherited from class io.github.robolib.module.iface.I2C

Methods inherited from class io.github.robolib.module.iface.Interface

Methods inherited from class java.lang.Object

Field Detail

MPU6050_ADDRESS_AD0_LOW

MPU6050_ADDRESS_AD0_HIGH

MPU6050_DEFAULT_ADDRESS

MPU6050_RA_XG_OFFS_TC

MPU6050_RA_YG_OFFS_TC

MPU6050_RA_ZG_OFFS_TC

MPU6050_RA_X_FINE_GAIN

MPU6050_RA_Y_FINE_GAIN

MPU6050_RA_Z_FINE_GAIN

MPU6050_RA_XA_OFFS_H

MPU6050_RA_XA_OFFS_L_TC

MPU6050_RA_YA_OFFS_H

MPU6050_RA_YA_OFFS_L_TC

MPU6050_RA_ZA_OFFS_H

MPU6050_RA_ZA_OFFS_L_TC

MPU6050_RA_XG_OFFS_USRH

MPU6050_RA_XG_OFFS_USRL

MPU6050_RA_YG_OFFS_USRH

MPU6050_RA_YG_OFFS_USRL

MPU6050_RA_ZG_OFFS_USRH

MPU6050_RA_ZG_OFFS_USRL

MPU6050_RA_SMPLRT_DIV

MPU6050_RA_CONFIG

MPU6050_RA_GYRO_CONFIG

MPU6050_RA_ACCEL_CONFIG

MPU6050_RA_FF_THR

MPU6050_RA_FF_DUR

MPU6050_RA_MOT_THR

MPU6050_RA_MOT_DUR

MPU6050_RA_ZRMOT_THR

MPU6050_RA_ZRMOT_DUR

MPU6050_RA_FIFO_EN

MPU6050_RA_I2C_MST_CTRL

MPU6050_RA_I2C_SLV0_ADDR

MPU6050_RA_I2C_SLV0_REG

MPU6050_RA_I2C_SLV0_CTRL

MPU6050_RA_I2C_SLV1_ADDR

MPU6050_RA_I2C_SLV1_REG

MPU6050_RA_I2C_SLV1_CTRL

MPU6050_RA_I2C_SLV2_ADDR

MPU6050_RA_I2C_SLV2_REG

MPU6050_RA_I2C_SLV2_CTRL

MPU6050_RA_I2C_SLV3_ADDR

MPU6050_RA_I2C_SLV3_REG

MPU6050_RA_I2C_SLV3_CTRL

MPU6050_RA_I2C_SLV4_ADDR

MPU6050_RA_I2C_SLV4_REG

MPU6050_RA_I2C_SLV4_DO

MPU6050_RA_I2C_SLV4_CTRL

MPU6050_RA_I2C_SLV4_DI

MPU6050_RA_I2C_MST_STATUS

MPU6050_RA_INT_PIN_CFG

MPU6050_RA_INT_ENABLE

MPU6050_RA_DMP_INT_STATUS

MPU6050_RA_INT_STATUS

MPU6050_RA_ACCEL_XOUT_H

MPU6050_RA_ACCEL_XOUT_L

MPU6050_RA_ACCEL_YOUT_H

MPU6050_RA_ACCEL_YOUT_L

MPU6050_RA_ACCEL_ZOUT_H

MPU6050_RA_ACCEL_ZOUT_L

MPU6050_RA_TEMP_OUT_H

MPU6050_RA_TEMP_OUT_L

MPU6050_RA_GYRO_XOUT_H

MPU6050_RA_GYRO_XOUT_L

MPU6050_RA_GYRO_YOUT_H