The raw values can be directly read of the accelerometer and gyroscope registers by the arduino. The values can be read off the dmp registers. The embedded digital motion processor is used to do computations on the sensor data. The output from the temperature sensor is digitized by ADC and can be read off the sensor data register. In normal position that is when the device is placed on a flat surface the values are 0g on x axis, 0g on y axis and +1 on z axis.16-bit ADC is used to digitize the values.Output amplitude is proportional to acceleration.
When the sensor is rotated along any axis a vibration is produced due to Coriolis effect which is detected by the MEMS.The MPU-6050 consist of a 3 axis gyroscope which can detect rotational velocity along the x,y,z axis with micro electro mechanical system technology (MEMS).
The arduino can be interfaced with I2C bus. It is very accurate and consist of analogue to digital conversion hardware for each channel thereby capturing x,y,z channels at the same time. It also includes a embedded temperature sensor and an on chip oscillator.
MPU-6050 is a chip manufactured by Invensense which combines 3 axis accelerometer and 3 axis gyroscope with an on-board digital motion processor.
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