RobTillaart · RobTillaart · Jan 3, 2026 · Jan 3, 2026 · Jan 3, 2026
diff --git a/.github/workflows/arduino-lint.yml b/.github/workflows/arduino-lint.yml
@@ -6,8 +6,8 @@ jobs:
     runs-on: ubuntu-latest
     timeout-minutes: 5
     steps:
-      - uses: actions/checkout@v4
-      - uses: arduino/arduino-lint-action@v1
+      - uses: actions/checkout@v6
+      - uses: arduino/arduino-lint-action@v2
         with:
           library-manager: update
           compliance: strict
diff --git a/.github/workflows/arduino_test_runner.yml b/.github/workflows/arduino_test_runner.yml
@@ -6,9 +6,8 @@ jobs:
   runTest:
     runs-on: ubuntu-latest
     timeout-minutes: 20
-
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
       - uses: ruby/setup-ruby@v1
         with:
           ruby-version: 2.6

diff --git a/.github/workflows/jsoncheck.yml b/.github/workflows/jsoncheck.yml
@@ -5,13 +5,15 @@ on:
     paths:
       - '**.json'
   pull_request:
+    paths:
+      - '**.json'
 
 jobs:
   test:
     runs-on: ubuntu-latest
     timeout-minutes: 5
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
       - name: json-syntax-check
         uses: limitusus/json-syntax-check@v2
         with:

diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -6,6 +6,11 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/)
 and this project adheres to [Semantic Versioning](http://semver.org/).
 
 
+## [0.6.2] - 2026-01-03
+- update GitHub actions
+- update examples
+- minor edits
+
 ## [0.6.1] - 2024-07-25
 Co-authored-by: Maik Menz 
 - redo of **calibrate()** function, Kudos to Maik Menz.
@@ -17,7 +22,6 @@ Co-authored-by: Maik Menz
 - update readme.md 
 - improve initialization
 
-
 ## [0.6.0] - 2024-06-22
 - fix #54, calibrate() function, Kudos to jens-kuerten and MArimont3
 - minor edits

diff --git a/GY521.cpp b/GY521.cpp
@@ -1,7 +1,7 @@
 //
 //    FILE: GY521.cpp
 //  AUTHOR: Rob Tillaart
-// VERSION: 0.6.1
+// VERSION: 0.6.2
 // PURPOSE: Arduino library for I2C GY521 accelerometer-gyroscope sensor
 //     URL: https://github.com/RobTillaart/GY521
 

diff --git a/GY521.h b/GY521.h
@@ -2,7 +2,7 @@
 //
 //    FILE: GY521.h
 //  AUTHOR: Rob Tillaart
-// VERSION: 0.6.1
+// VERSION: 0.6.2
 // PURPOSE: Arduino library for I2C GY521 accelerometer-gyroscope sensor
 //     URL: https://github.com/RobTillaart/GY521
 
@@ -11,7 +11,7 @@
 #include "Wire.h"
 
 
-#define GY521_LIB_VERSION           (F("0.6.1"))
+#define GY521_LIB_VERSION           (F("0.6.2"))
 
 const float GRAVITY = 9.80655;
 
@@ -32,10 +32,10 @@ const float GRAVITY = 9.80655;
 
 
 //  CONVERSION CONSTANTS
-#define GY521_RAD2DEGREES          (180.0 / PI)
-#define GY521_DEGREES2RAD          (PI / 180.0)
-#define GY521_RAW2DPS              (1.0 / 131.0)
-#define GY521_RAW2G                (1.0 / 16384.0)
+#define GY521_RAD2DEGREES           (180.0 / PI)
+#define GY521_DEGREES2RAD           (PI / 180.0)
+#define GY521_RAW2DPS               (1.0 / 131.0)
+#define GY521_RAW2G                 (1.0 / 16384.0)
 
 
 class GY521

diff --git a/GY521_registers.h b/GY521_registers.h
@@ -1,7 +1,7 @@
 //
 //    FILE: GY521_registers.h
 //  AUTHOR: Rob Tillaart
-// VERSION: see GY521.cpp
+// VERSION: see GY521.cpp / CHANGELOG.md
 // PURPOSE: Arduino library for I2C GY521 accelerometer-gyroscope sensor
 //     URL: https://github.com/RobTillaart/GY521
 //

diff --git a/LICENSE b/LICENSE
@@ -1,6 +1,6 @@
 MIT License
 
-Copyright (c) 2017-2024 Rob Tillaart
+Copyright (c) 2017-2026 Rob Tillaart
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

diff --git a/README.md b/README.md
@@ -24,17 +24,17 @@ It needs to be tested a lot more.
 See changelog.md for latest updates.
 
 
-#### 0.6.1
+### 0.6.1
 
 Improved **calibrate()** to support any angle.
 
 
-#### 0.6.0
+### 0.6.0
 
 Fixed a bug in calibration function, making previous versions obsolete.
 
 
-#### 0.5.0 Breaking change
+### 0.5.0 Breaking change
 
 Version 0.5.0 introduced a breaking change.
 You cannot set the pins in **begin()** any more.
@@ -43,7 +43,7 @@ The user has to call **Wire.begin()** and can optionally set the Wire pins
 before calling **begin()**.
 
 
-#### Examples
+### Examples
 
 - **GY521_angle** read angleX, angleY, angleZ.
 - **GY521_performance_calibrate.ino** determine calibration performance.
@@ -58,7 +58,7 @@ for analysis e.g. in a spreadsheet.
 - **GY521_two_sensors** demo for two sensors.
 
 
-#### Related
+### Related
 
 - https://invensense.tdk.com/wp-content/uploads/2015/02/MPU-6000-Datasheet1.pdf
 - https://cdn.sparkfun.com/datasheets/Sensors/Accelerometers/RM-MPU-6000A.pdf  register map.
@@ -82,7 +82,7 @@ From left to right
 |   7   |    INT    |  interrupt        |
 
 
-#### Address
+### Address
 
 AD0 connected to GND => 0x68 
 AD0 connected to VCC => 0x69
@@ -102,7 +102,7 @@ sensor can be calibrated in any angle.
 **bool calibrate(times, angleX = 0, angleY = 0, inverted = false)**
 
 
-#### Manual calibration
+### Manual calibration
 
 1. load and run calibration example  
    it shows a header containing 6 numbers and 10 lines of 8 numbers
@@ -209,7 +209,7 @@ One must explicitly call **read()** to get new values.
 
 #### Experimental Pitch Roll and Yaw
 
-Pitch Roll and Yaw is work in progress and should not be used for projects yet.
+Pitch Roll and Yaw is **work in progress** and should not be used for projects yet.
 
 - **float getPitch()** idem. May return any number.
 If **setNormalize(true)** return value will be 0-359.999
@@ -250,7 +250,7 @@ Read the register PDF for the specific value and meaning of registers.
 - check details registers - MPU-6000-Register-Map1.pdf
 
 
-#### Error codes
+### Error codes
 
 |  Error code                 |  value  |  notes  |
 |:----------------------------|:-------:|:-------:|
@@ -261,7 +261,7 @@ Read the register PDF for the specific value and meaning of registers.
 |  GY521_ERROR_NOT_CONNECTED  |   -3    |
 
 
-#### Sensitivity Acceleration
+### Sensitivity Acceleration
 
 The strength of Earth's gravity varies with latitude (equator = 0�, poles = 90�).
 The standard value for gravity (gn) is 9.80665 m/s^2 (often 9.81 m/s^2)
@@ -278,7 +278,7 @@ The library provides the constant GRAVITY = 9.80655
 |    3    |     16 g      |  156.9048  |
 
 
-#### Sensitivity Gyroscope
+### Sensitivity Gyroscope
 
 unit dps = degrees per second.
 
@@ -302,12 +302,11 @@ However if one specific is needed, please open an issue.
 
 #### Must
 
-- time
-- improve documentation
 - investigate Pitch Roll and Yaw math in detail.
   - investigate math needed.
   - implementation.
   - when?
+- improve documentation
 - test test and test ...(ESP too)
 
 #### Should

diff --git a/examples/GY521_angle/GY521_angle.ino b/examples/GY521_angle/GY521_angle.ino
@@ -19,6 +19,7 @@ void setup()
   Serial.println(__FILE__);
   Serial.print("GY521_LIB_VERSION: ");
   Serial.println(GY521_LIB_VERSION);
+  Serial.println();
 
   Wire.begin();
 

diff --git a/examples/GY521_performance/GY521_performance.ino b/examples/GY521_performance/GY521_performance.ino
@@ -1,7 +1,7 @@
 //
 //    FILE: GY521_performance.ino
 //  AUTHOR: Rob Tillaart
-// PURPOSE: minimal demo
+// PURPOSE: performance measurements
 //     URL: https://github.com/RobTillaart/GY521
 
 #include "GY521.h"
@@ -19,6 +19,7 @@ void setup()
   Serial.println(__FILE__);
   Serial.print("GY521_LIB_VERSION: ");
   Serial.println(GY521_LIB_VERSION);
+  Serial.println();
 
   Wire.begin();
 
@@ -36,12 +37,12 @@ void loop()
   uint32_t start = micros();
   int16_t x = sensor.read();
   uint32_t duration = micros() - start;
-  
+
   Serial.print(x);
   Serial.print('\t');
   Serial.print(duration);
   Serial.println();
-  
+
   delay(1000);
 }
 

diff --git a/examples/GY521_performance_calibrate/GY521_performance_calibrate.ino b/examples/GY521_performance_calibrate/GY521_performance_calibrate.ino
@@ -1,7 +1,7 @@
 //
 //    FILE: GY521_performance_calibrate.ino
 //  AUTHOR: Rob Tillaart
-// PURPOSE: read angleX, angleY, angleZ
+// PURPOSE: measure calibration performance
 //     URL: https://github.com/RobTillaart/GY521
 
 
@@ -17,6 +17,7 @@ void setup()
   Serial.println(__FILE__);
   Serial.print("GY521_LIB_VERSION: ");
   Serial.println(GY521_LIB_VERSION);
+  Serial.println();
 
   Wire.begin();
 

diff --git a/examples/GY521_pitch_roll_yaw/GY521_pitch_roll_yaw.ino b/examples/GY521_pitch_roll_yaw/GY521_pitch_roll_yaw.ino
@@ -3,7 +3,8 @@
 //  AUTHOR: Rob Tillaart
 // PURPOSE: demo pitch roll yaw
 //     URL: https://github.com/RobTillaart/GY521
-
+//
+//  WORK IN PROGRESS - not working well
 
 #include "GY521.h"
 
@@ -19,7 +20,9 @@ void setup()
   Serial.println(__FILE__);
   Serial.print("GY521_LIB_VERSION: ");
   Serial.println(GY521_LIB_VERSION);
+  Serial.println();
   Serial.println("warning: Pitch roll yaw is work in progress.");
+  Serial.println();
 
   Wire.begin();
 

diff --git a/examples/GY521_raw_cooked/GY521_raw_cooked.ino b/examples/GY521_raw_cooked/GY521_raw_cooked.ino
@@ -19,6 +19,7 @@ void setup()
   Serial.println(__FILE__);
   Serial.print("GY521_LIB_VERSION: ");
   Serial.println(GY521_LIB_VERSION);
+  Serial.println();
 
   Wire.begin();
 

diff --git a/examples/GY521_readCalibration_1/GY521_readCalibration_1.ino b/examples/GY521_readCalibration_1/GY521_readCalibration_1.ino
@@ -23,6 +23,7 @@ void setup()
   Serial.println(__FILE__);
   Serial.print("GY521_LIB_VERSION: ");
   Serial.println(GY521_LIB_VERSION);
+  Serial.println();
 
   Wire.begin();
   delay(100);

diff --git a/examples/GY521_readCalibration_2/GY521_readCalibration_2.ino b/examples/GY521_readCalibration_2/GY521_readCalibration_2.ino
@@ -22,6 +22,7 @@ void setup()
   Serial.println(__FILE__);
   Serial.print("GY521_LIB_VERSION: ");
   Serial.println(GY521_LIB_VERSION);
+  Serial.println();
 
   Wire.begin();
   delay(100);
@@ -77,7 +78,7 @@ void loop()
     Serial.print("sensor.aze = ");
     Serial.print(sensor.aze, 7);
     Serial.print(";\n");
-    
+
     Serial.print("sensor.gxe = ");
     Serial.print(sensor.gxe, 7);
     Serial.print(";\n");

diff --git a/examples/GY521_test_1/GY521_test_1.ino b/examples/GY521_test_1/GY521_test_1.ino
@@ -19,6 +19,7 @@ void setup()
   Serial.println(__FILE__);
   Serial.print("GY521_LIB_VERSION: ");
   Serial.println(GY521_LIB_VERSION);
+  Serial.println();
 
   Wire.begin();
 
@@ -34,7 +35,7 @@ void setup()
 
   sensor.setThrottle();
   Serial.println("start...");
-  
+
   //  set calibration values from calibration sketch.
   sensor.axe = 0;
   sensor.aye = 0;

diff --git a/examples/GY521_test_2/GY521_test_2.ino b/examples/GY521_test_2/GY521_test_2.ino
@@ -17,6 +17,7 @@ void setup()
   Serial.println(__FILE__);
   Serial.print("GY521_LIB_VERSION: ");
   Serial.println(GY521_LIB_VERSION);
+  Serial.println();
 
   Wire.begin();
 

diff --git a/examples/GY521_two_sensors/GY521_two_sensors.ino b/examples/GY521_two_sensors/GY521_two_sensors.ino
@@ -20,6 +20,7 @@ void setup()
   Serial.println(__FILE__);
   Serial.print("GY521_LIB_VERSION: ");
   Serial.println(GY521_LIB_VERSION);
+  Serial.println();
 
   Wire.begin();
 

diff --git a/library.json b/library.json
@@ -18,7 +18,7 @@
     "type": "git",
     "url": "https://github.com/RobTillaart/GY521.git"
   },
-  "version": "0.6.1",
+  "version": "0.6.2",
   "license": "MIT",
   "frameworks": "*",
   "platforms": "*",

diff --git a/library.properties b/library.properties
@@ -1,5 +1,5 @@
 name=GY521
-version=0.6.1
+version=0.6.2
 author=Rob Tillaart <[email protected]>
 maintainer=Rob Tillaart <[email protected]>
 sentence=Arduino library for GY521 angle measurement