Ihave arduino mega2560 and MPU6050.

I connected to Vcc pin of the gyro to +5V on the mega, the SDA to SDA pin, SDL to SDL pin, AD0 and GND to 2 GND pins.

I used this code:

#include<Wire.h>

const int MPU=0x68; //I2C address of MPU
int GyX,GyY,GyZ;
float pitch=0;
float roll=0;
float yaw=0;

float v_pitch;
float v_roll;
float v_yaw;
float a_pitch;
float a_roll;
float a_yaw;

void setup(){
Wire.begin();
Wire.beginTransmission(MPU);
Wire.write(0x6B); //power management register 1
Wire.write(0);
Wire.endTransmission(true);
Serial.begin(9600);
}

void loop() {
Wire.beginTransmission(MPU);
Wire.write(0x43);
Wire.endTransmission(false);
Wire.requestFrom(MPU,6,true);
GyX=Wire.read()<<8|Wire.read();
GyY=Wire.read()<<8|Wire.read();
GyZ=Wire.read()<<8|Wire.read();
v_pitch=(GyX/131);
if(v_pitch==-1) {v_pitch=0;}
v_roll=(GyY/131);
if(v_roll==1) {v_roll=0;}
v_yaw=GyZ/131;
a_pitch=(v_pitch*0.046);
a_roll=(v_roll*0.046);
a_yaw=(v_yaw*0.045);
pitch= pitch + a_pitch; roll= roll + a_roll;
yaw= yaw + a_yaw;
Serial.print(" | pitch = ");
Serial.print(pitch);
Serial.print(" | roll = ");
Serial.print(roll);
Serial.print(" | yaw = ");
Serial.println(yaw); }

But the Value I am reading are not angles at all, plus when I move the X axes for 45 degrees, the value is not like that at all.

I don't want to use the pre made library as I want to understand how to read from Gyroscope. Any idea ?

I have Arduino mega2560 and MPU6050.

I connected to Vcc pin of the gyro to +5V on the mega, the SDA to SDA pin, SDL to SDL pin, AD0 and GND to 2 GND pins.

I used this code:

#include<Wire.h>

const int MPU=0x68; //I2C address of MPU
int GyX,GyY,GyZ;
float pitch=0;
float roll=0;
float yaw=0;

float v_pitch;
float v_roll;
float v_yaw;
float a_pitch;
float a_roll;
float a_yaw;

void setup(){
  Wire.begin();
  Wire.beginTransmission(MPU);
  Wire.write(0x6B); //power management register 1
  Wire.write(0);
  Wire.endTransmission(true);
  Serial.begin(9600);
}

void loop() {
  Wire.beginTransmission(MPU);
  Wire.write(0x43);
  Wire.endTransmission(false);
  Wire.requestFrom(MPU,6,true);
  GyX=Wire.read()<<8|Wire.read();
  GyY=Wire.read()<<8|Wire.read();
  GyZ=Wire.read()<<8|Wire.read();
  v_pitch=(GyX/131);
  if(v_pitch==-1) {
    v_pitch=0;
  }
  v_roll=(GyY/131);
  if(v_roll==1) {
    v_roll=0;
  }
  v_yaw=GyZ/131;
  a_pitch=(v_pitch*0.046);
  a_roll=(v_roll*0.046);
  a_yaw=(v_yaw*0.045);
  pitch= pitch + a_pitch; roll= roll + a_roll;
  yaw= yaw + a_yaw;
  Serial.print(" | pitch = ");
  Serial.print(pitch);
  Serial.print(" | roll = ");
  Serial.print(roll);
  Serial.print(" | yaw = ");
  Serial.println(yaw); 
}

But the values I am reading are not angles at all, plus when I move the X axes for 45 degrees, the value is not like that at all.

I don't want to use the pre made library as I want to understand how to read from Gyroscope. Any ideas?