//?I2Cdev?library?collection?-?MPU6050?I2C?device?class
//?based?on?InvenSense?MPU-6050?register?map?document?rev.?2.0?5/19/2011?（RM-MPU-6000A-00）
//?8/24/2011?by?Jeff?Rowberg?
//?Updates?should?（hopefully）?always?be?available?at?https://github.com/jrowberg/i2cdevlib
//
//?Changelog:
//?????...?-?ongoing?debug?release

//?NOTE:?THIS?IS?ONLY?A?PARIAL?RELEASE.?THIS?DEVICE?CLASS?IS?CURRENTLY?UNDERGOING?ACTIVE
//?DEVELOPMENT?AND?IS?STILL?MISSING?SOME?IMPORTANT?FEATURES.?PLEASE?KEEP?THIS?IN?MIND?IF
//?YOU?DECIDE?TO?USE?THIS?PARTICULAR?CODE?FOR?ANYTHING.

/*?============================================
I2Cdev?device?library?code?is?placed?under?the?MIT?license
Copyright?（c）?2012?Jeff?Rowberg

Permission?is?hereby?granted?free?of?charge?to?any?person?obtaining?a?copy
of?this?software?and?associated?documentation?files?（the?“Software“）?to?deal
in?the?Software?without?restriction?including?without?limitation?the?rights
to?use?copy?modify?merge?publish?distribute?sublicense?and/or?sell
copies?of?the?Software?and?to?permit?persons?to?whom?the?Software?is
furnished?to?do?so?subject?to?the?following?conditions:

The?above?copyright?notice?and?this?permission?notice?shall?be?included?in
all?copies?or?substantial?portions?of?the?Software.

THE?SOFTWARE?IS?PROVIDED?“AS?IS“?WITHOUT?WARRANTY?OF?ANY?KIND?EXPRESS?OR
IMPLIED?INCLUDING?BUT?NOT?LIMITED?TO?THE?WARRANTIES?OF?MERCHANTABILITY
FITNESS?FOR?A?PARTICULAR?PURPOSE?AND?NONINFRINGEMENT.?IN?NO?EVENT?SHALL?THE
AUTHORS?OR?COPYRIGHT?HOLDERS?BE?LIABLE?FOR?ANY?CLAIM?DAMAGES?OR?OTHER
LIABILITY?WHETHER?IN?AN?ACTION?OF?CONTRACT?TORT?OR?OTHERWISE?ARISING?FROM
OUT?OF?OR?IN?CONNECTION?WITH?THE?SOFTWARE?OR?THE?USE?OR?OTHER?DEALINGS?IN
THE?SOFTWARE.
===============================================
*/

#include?“MPU6050.h“

/**?Default?constructor?uses?default?I2C?address.
?*?@see?MPU6050_DEFAULT_ADDRESS
?*/
MPU6050::MPU6050（）?{
????devAddr?=?MPU6050_DEFAULT_ADDRESS;
}

/**?Specific?address?constructor.
?*?@param?address?I2C?address
?*?@see?MPU6050_DEFAULT_ADDRESS
?*?@see?MPU6050_ADDRESS_AD0_LOW
?*?@see?MPU6050_ADDRESS_AD0_HIGH
?*/
MPU6050::MPU6050（uint8_t?address）?{
????devAddr?=?address;
}

/**?Power?on?and?prepare?for?general?usage.
?*?This?will?activate?the?device?and?take?it?out?of?sleep?mode?（which?must?be?done
?*?after?start-up）.?This?function?also?sets?both?the?accelerometer?and?the?gyroscope
?*?to?their?most?sensitive?settings?namely?+/-?2g?and?+/-?250?degrees/sec?and?sets
?*?the?clock?source?to?use?the?X?Gyro?for?reference?which?is?slightly?better?than
?*?the?default?internal?clock?source.
?*/
void?MPU6050::initialize（）?{
????setClockSource（MPU6050_CLOCK_PLL_XGYRO）;
????setFullScaleGyroRange（MPU6050_GYRO_FS_250）;
????setFullScaleAccelRange（MPU6050_ACCEL_FS_2）;
????setSleepEnabled（false）;?//?thanks?to?Jack?Elston?for?pointing?this?one?out!
}

/**?Verify?the?I2C?connection.
?*?Make?sure?the?device?is?connected?and?responds?as?expected.
?*?@return?True?if?connection?is?valid?fa