01What it senses
Three-axis acceleration (±2/4/8/16 g) and three-axis angular rate (±250/500/1000/2000 °/s). The Digital Motion Processor fuses both into orientation quaternions.
02Wiring
- VCC → 3.3–5V.
- GND → GND.
- SDA → A4 (UNO) / GPIO21 (ESP32).
- SCL → A5 (UNO) / GPIO22 (ESP32).
03Code path
Jeff Rowberg's I2Cdevlib gives a ready DMP example that returns yaw/pitch/roll directly. Calibrate once and store offsets in EEPROM.
04Projects
- Self-balancing robot.
- Gesture remote.
- Game controller.
