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communication/August1_I2C_MasterDuino.ino

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+
+#include <Wire.h>
+
+void setup() {
+  Wire.begin();        // join i2c bus (address optional for master)
+  Serial.begin(115200);  // start serial for output
+}
+
+void loop() {
+  Wire.requestFrom(8, 26);    // request 100 bytes from slave device #8
+  byte index = 0;
+  String data = "";
+  while (Wire.available()) { // slave may send less than requested
+    char c = Wire.read(); // receive a byte as character
+    //Serial.print(c);
+    data += c;
+  }
+  Serial.println("Rotation Data: " + data);
+  Serial.println();
+
+  delay(10);
+}

communication/August1_I2C_SlaveDuino.ino

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+#include <Wire.h>
+#include <Adafruit_MPU6050.h>
+#include <Adafruit_Sensor.h>
+
+Adafruit_MPU6050 mpu;
+
+String x = "";
+
+volatile int Val; // variable used by the master to sent data to the slave
+
+void setup() {
+  Wire.begin(8);                // Slave id #8
+  Wire.onRequest(requestEvent); // function to run when asking for data
+  //Wire.onReceive(receiveEvent); // what to do when receiving data
+  Serial.begin(115200);  // serial for displaying data on your screen
+
+    while (!Serial)
+    delay(10); // will pause Zero, Leonardo, etc until serial console opens
+
+  Serial.println("Adafruit MPU6050 test!");
+
+  // Try to initialize!
+  if (!mpu.begin()) {
+    Serial.println("Failed to find MPU6050 chip");
+    while (1) {
+      delay(10);
+    }
+  }
+ Serial.println("MPU6050 Found!");
+
+  mpu.setAccelerometerRange(MPU6050_RANGE_8_G);
+  Serial.print("Accelerometer range set to: ");
+  switch (mpu.getAccelerometerRange()) {
+  case MPU6050_RANGE_2_G:
+    Serial.println("+-2G");
+    break;
+  case MPU6050_RANGE_4_G:
+    Serial.println("+-4G");
+    break;
+  case MPU6050_RANGE_8_G:
+    Serial.println("+-8G");
+    break;
+  case MPU6050_RANGE_16_G:
+    Serial.println("+-16G");
+    break;
+  }
+  mpu.setGyroRange(MPU6050_RANGE_500_DEG);
+  Serial.print("Gyro range set to: ");
+  switch (mpu.getGyroRange()) {
+  case MPU6050_RANGE_250_DEG:
+    Serial.println("+- 250 deg/s");
+    break;
+  case MPU6050_RANGE_500_DEG:
+    Serial.println("+- 500 deg/s");
+    break;
+  case MPU6050_RANGE_1000_DEG:
+    Serial.println("+- 1000 deg/s");
+    break;
+  case MPU6050_RANGE_2000_DEG:
+    Serial.println("+- 2000 deg/s");
+    break;
+  }
+
+  mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);
+  Serial.print("Filter bandwidth set to: ");
+  switch (mpu.getFilterBandwidth()) {
+  case MPU6050_BAND_260_HZ:
+    Serial.println("260 Hz");
+    break;
+  case MPU6050_BAND_184_HZ:
+    Serial.println("184 Hz");
+    break;
+  case MPU6050_BAND_94_HZ:
+    Serial.println("94 Hz");
+    break;
+  case MPU6050_BAND_44_HZ:
+    Serial.println("44 Hz");
+    break;
+  case MPU6050_BAND_21_HZ:
+    Serial.println("21 Hz");
+    break;
+  case MPU6050_BAND_10_HZ:
+    Serial.println("10 Hz");
+    break;
+  case MPU6050_BAND_5_HZ:
+    Serial.println("5 Hz");
+    break;
+  }
+
+  Serial.println("");
+}
+
+void loop() {
+      /* Get new sensor events with the readings */
+  sensors_event_t a, g, temp;
+  mpu.getEvent(&a, &g, &temp);
+  x = "";
+
+  /* Print out the values */
+  
+  //x += "Acceleration X: ";
+  /*
+  x += String(a.acceleration.x, 3);
+  x += ", Y: ";
+  x += String(a.acceleration.y, 3);
+  x += ", Z: ";
+  x += String(a.acceleration.z, 3);
+  x += " m/s^2 ";
+  */
+
+  x += String(g.gyro.x, 3);
+  x += " ";
+  x += String(g.gyro.y, 3);
+  x += " ";
+  x += String(g.gyro.z, 3);
+  x += " rad/s";
+  
+  while(x.length() < 26)
+  {
+  x += " ";
+  }
+  Serial.println(x.length());
+  Serial.println(x);
+  delay(10);
+}
+
+// function: what to do when asked for data
+void requestEvent() {
+      byte data[26];
+      for (byte i=0;i<26;i++) 
+      {
+        data[i] = (byte)x.charAt(i);
+      }
+      Wire.write(data,sizeof(data));
+}