IMU 6DOF - MPU-6050 from Invensense (accelerometer + gyroscope)
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For precision tracking of both fast and slow motions, the parts feature a user-programmable gyro full-scale range of ±250, ±500, ±1000, and ±2000°/sec (dps) and a user-programmable accelerometer full-scale range of ±2g, ±4g, ±8g, and ±16g.
The MPU-6050 supports I2C communications at up to 400kHz and has a VLOGIC pin that defines its interface voltage levels; Additional features include an embedded temperature sensor and an on-chip oscillator with ±1% variation over the operating temperature range.
Example of interfacing between an Arduino pro mini 5v and the MPU6050 + magnetometer breakout board on I2C bus :
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