Lakshmanan Gopalakrishnan / MPU6050

First trial of Balancing robot based on Kristian Lauszus's code.

Dependents:   Balancing_Robot_2

Fork of MPU6050 by Baser Kandehir

Diff: MPU6050.cpp

Revision:
5:5bff0edcdff8
Parent:
4:20f1f660e5c3
Child:
6:5b90f2b5e6d9
--- a/MPU6050.cpp	Wed Aug 05 12:17:44 2015 +0000
+++ b/MPU6050.cpp	Wed Aug 05 12:45:47 2015 +0000
@@ -161,7 +161,9 @@
 // Sample rate: 200Hz for gyro and acc
 // Interrupts are disabled
 void MPU6050::init()
-{        
+{      
+    i2c.frequency(400000);                      // fast i2c: 400 kHz
+  
     /* Wake up the device */
     writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x00);  // wake up the device by clearing the sleep bit (bit6) 
     wait_ms(100); // wait 100 ms to stabilize