加速度センサ MPU6050 を使って傾斜計をつくる

$ pip install adafruit-circuitpython-mpu6050

# SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries
# SPDX-License-Identifier: MIT

# Display inclination data five times per second

# See this page to learn the math and physics principals behind this example:
# https://learn.adafruit.com/how-tall-is-it/gravity-and-acceleration

import time
from math import atan2, degrees
import board
import adafruit_mpu6050

i2c = board.I2C()  # uses board.SCL and board.SDA
# i2c = board.STEMMA_I2C()  # For using the built-in STEMMA QT connector on a microcontroller
sensor = adafruit_mpu6050.MPU6050(i2c)

# Given a point (x, y) return the angle of that point relative to x axis.
# Returns: angle in degrees

def vector_2_degrees(x, y):
    angle = degrees(atan2(y, x))
    if angle < 0:
        angle += 360
    return angle

# Given an accelerometer sensor object return the inclination angles of X/Z and Y/Z
# Returns: tuple containing the two angles in degrees

def get_inclination(_sensor):
    x, y, z = _sensor.acceleration
    return vector_2_degrees(x, z), vector_2_degrees(y, z)

while True:
    angle_xz, angle_yz = get_inclination(sensor)
    print("XZ angle = {:6.2f}deg   YZ angle = {:6.2f}deg".format(angle_xz, angle_yz))
    time.sleep(0.2)