Using MPU6050 through I2C bus

[Joe Ross]

I'm confused. The board you linked seems to be an a flight control board that contains an MPU6050 and an Arduino microcontroller. I've been looking at the MultiWii website and have not been able to find a description of the I2C interface. You'll need to find out what the I2c device address is, as well as the map of registers it supports. You may need to modify the Arduino firmware to get access to the data you want. I assume that there is some processing the Arduino is doing which is why you picked it, rather then using the MPU6050 directly?

Then you talk about pi4j, which implies you want to run java on a Raspberry PI. Does this mean that you want to connect the Arduino to a Raspberry PI and then the Raspberry PI to the I2C bus on the Digital Sidecar?

On the robot side, you'd use the I2C class in WPILibJ. The FPGA only supports being an I2C master, which isn't a problem if you are interfacing to the MPU6050 directly, but may be a problem if you are connecting to another controller that also is designed to be the master. There are several other gotchas to using I2C on the cRIO, so you should spend some time reading related threads on chiefdelphi.