初始化提交

arduino-cli/libraries/MPU6050_tockn/README.md

@@ -0,0 +1,80 @@
+# MPU6050_tockn
+Arduino library for easy communicating with the MPU6050
+## Usage
+You can see [example sketch.](https://github.com/Tockn/MPU6050_tockn/tree/master/examples)  
+  
+If you want to get data of MPU6050, you must execute `update()` method before get method.  
+`update()` will get all data of MPU6050, and calculating angle by accelerometer, gyroscope and complementary filter.  
+
+### Complementary filter
+`update()` method calculate angle by accelerometer and gyroscope using complementary filter.  
+Those two coefficients determined by constructor.  
+Default coefficient of accelerometer is 0.02, gyroscope is 0.98.  
+`filtered_angle = (0.02 * accel) + (0.98 * gyro)`  
+#### example
+If you want to set 0.1 to accelerometer coefficient and 0.9 to gyroscope coefficient, your code is  
+```MPU6050 mpu6050(Wire, 0.1, 0.9);```  
+
+
+### Auto calibration
+If you use `calcGyroOffsets()` in `setup()`, it will calculate calibration of the gyroscope, and the value of the gyroscope will calibrated.  
+⚠DO NOT MOVE MPU6050 during calculating.⚠  
+```
+#include <MPU6050_tockn>
+#include <Wire.h>
+
+MPU6050 mpu6050(Wire);
+
+void setup(){
+  Wire.begin();
+  mpu6050.begin();
+  mpu6050.calcGyroOffsets();
+}
+
+```
+
+If you use `calcGyroOffsets(true)` in `setup()`, you can see state of calculating calibration in serial monitor.  
+```
+#include <MPU6050_tockn>
+#include <Wire.h>
+
+MPU6050 mpu6050(Wire);
+
+void setup(){
+  Serial.begin(9600);
+  Wire.begin();
+  mpu6050.begin();
+  mpu6050.calcGyroOffsets(true);
+}
+```
+Serial monitor:
+```
+Calculate gyro offsets
+DO NOT MOVE MPU6050.....
+Done!
+X : 1.45
+Y : 1.23
+Z : -1.32
+Program will start after 3 seconds
+```  
+  
+If you know offsets of gyroscope, you can set them by `setGyroOffsets()`, and you don't have to execute `calcGyroOffsets()`, so you can launch program quickly.
+#### example
+```
+#include <MPU6050_tockn>
+#include <Wire.h>
+
+MPU6050 mpu6050(Wire);
+
+void setup(){
+  Serial.begin(9600);
+  Wire.begin();
+  mpu6050.begin();
+  mpu6050.setGyroOffsets(1.45, 1.23, -1.32);
+}
+```
+## Licence
+MIT
+## Author
+
+[tockn](https://github.com/tockn)