Arduino - Code

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Python code for the Arduino board:

#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
#include "MPU6050.h"

MPU6050 mpu;

#define INTERRUPT_PIN 2
#define LED_PIN 13
bool blinkState = false;

volatile bool mpuInterrupt = false;

void dmpDataReady() {
    mpuInterrupt = true;
}

void setup() {
    Wire.begin();
    Wire.setClock(400000);
    Serial.begin(115200);
    while (!Serial);

    mpu.initialize();
    pinMode(INTERRUPT_PIN, INPUT);
    uint8_t devStatus = mpu.dmpInitialize();

    mpu.setXGyroOffset(220);
    mpu.setYGyroOffset(76);
    mpu.setZGyroOffset(-85);
    mpu.setZAccelOffset(1788);

    if (devStatus == 0) {
        mpu.CalibrateAccel(6);
        mpu.CalibrateGyro(6);
        mpu.setDMPEnabled(true);

        attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);
        uint8_t mpuIntStatus = mpu.getIntStatus();
        bool dmpReady = true;
        uint16_t packetSize = mpu.dmpGetFIFOPacketSize();
    } else {
        Serial.print(F("DMP Initialization failed (code "));
        Serial.print(devStatus);
        Serial.println(F(")"));
    }

    pinMode(LED_PIN, OUTPUT);
}

void loop() {
    bool dmpReady = true;
    uint8_t fifoBuffer[64];
    if (!dmpReady) return;
    if (mpu.dmpGetCurrentFIFOPacket(fifoBuffer)) {
        Quaternion q;
        VectorFloat gravity;
        float ypr[3];
        mpu.dmpGetQuaternion(&q, fifoBuffer);
        mpu.dmpGetGravity(&gravity, &q);
        mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
        Serial.println(ypr[1] * 180/M_PI); // Send only yaw data over serial
        delay(1000);
    }
}