python开发陀螺仪mpu6050模块的编码

示例代码：

# 导入所需模块
import smbus
import math
import time

# 定义MPU6050模块的I2C地址和寄存器地址
DEVICE_ADDRESS = 0x68
SMPLRT_DIV = 0x19
CONFIG = 0x1A
GYRO_CONFIG = 0x1B
INT_ENABLE = 0x38
ACCEL_XOUT_H = 0x3B
ACCEL_YOUT_H = 0x3D
ACCEL_ZOUT_H = 0x3F
TEMP_OUT_H = 0x41
GYRO_XOUT_H = 0x43
GYRO_YOUT_H = 0x45
GYRO_ZOUT_H = 0x47

# 初始化MPU6050模块
bus = smbus.SMBus(1)
bus.write_byte_data(DEVICE_ADDRESS, SMPLRT_DIV, 0x07)
bus.write_byte_data(DEVICE_ADDRESS, CONFIG, 0x00)
bus.write_byte_data(DEVICE_ADDRESS, GYRO_CONFIG, 0x18)
bus.write_byte_data(DEVICE_ADDRESS, INT_ENABLE, 0x01)

# 定义读取数据函数
def read_raw_data(addr):
    high = bus.read_byte_data(DEVICE_ADDRESS, addr)
    low = bus.read_byte_data(DEVICE_ADDRESS, addr+1)
    value = ((high << 8) | low)
    if value > 32768:
        value = value - 65536
    return value

# 读取并计算陀螺仪数据
while True:
    gyro_x = read_raw_data(GYRO_XOUT_H)
    gyro_y = read_raw_data(GYRO_YOUT_H)
    gyro_z = read_raw_data(GYRO_ZOUT_H)
    print("gyro_x: ", gyro_x)
    print("gyro_y: ", gyro_y)
    print("gyro_z: ", gyro_z)

    # 计算角度
    gyro_xout = gyro_x/131.0
    gyro_yout = gyro_y/131.0
    gyro_zout = gyro_z/131.0
    print("gyro_xout: ", gyro_xout)
    print("gyro_yout: ", gyro_yout)
    print("gyro_zout: ", gyro_zout)

    time.sleep(0.5)

以上是基本代码，可以将其作为参考，根据自己需要进行修改和完善。