The Ultimate Guide to the GY-LSM6DS3: From Beginner to Project Application, Unlocking the Full Potential of the 6-Axis IMU

				
					   #include <Wire.h>
#include <Adafruit_LSM6DS3.h>

Adafruit_LSM6DS3 lsm6ds3;

// ====== Configuration Options ======
const bool DETAILED_MONITOR = true;   // true: formatted output for Serial Monitor
const bool INCLUDE_PLOTTER_LINE = true; // Also print a plotter-friendly line
const unsigned long PRINT_INTERVAL_MS = 100; // Update every 100ms (10 Hz)

unsigned long lastPrint = 0;

void setup() {
  Serial.begin(115200);
  while (!Serial) delay(10); // Wait for serial port (needed for some boards)

  if (!lsm6ds3.begin_I2C()) {
    Serial.println("⚠️  Failed to detect LSM6DS3 sensor!");
    while (1) delay(100);
  }

  Serial.println("✅ LSM6DS3 initialized successfully!\n");
  if (DETAILED_MONITOR) {
    Serial.println("📊 Sensor Data (Units: Accel = m/s², Gyro = °/s)\n");
  }
}

void loop() {
  unsigned long now = millis();
  if (now - lastPrint < PRINT_INTERVAL_MS) return;
  lastPrint = now;

  sensors_event_t accel, gyro, temp;
  lsm6ds3.getEvent(&accel, &gyro, &temp);

  if (DETAILED_MONITOR) {
    // ====== Formatted, categorized output ======
    Serial.println("=== Sensor Data Frame ===");

    // Accelerometer
    Serial.print("Accel [m/s²] → X: ");
    Serial.print(accel.acceleration.x, 2);
    Serial.print("  Y: ");
    Serial.print(accel.acceleration.y, 2);
    Serial.print("  Z: ");
    Serial.println(accel.acceleration.z, 2);

    // Gyroscope
    Serial.print("Gyro  [°/s]  → X: ");
    Serial.print(gyro.gyro.x, 2);
    Serial.print("  Y: ");
    Serial.print(gyro.gyro.y, 2);
    Serial.print("  Z: ");
    Serial.println(gyro.gyro.z, 2);

    // Temperature
    Serial.print("Temp  [°C]   → ");
    Serial.println(temp.temperature, 1);

    // Optional: Plotter-friendly line (6 space-separated numbers)
    if (INCLUDE_PLOTTER_LINE) {
      Serial.print("Plot: ");
      Serial.print(accel.acceleration.x);
      Serial.print(" ");
      Serial.print(accel.acceleration.y);
      Serial.print(" ");
      Serial.print(accel.acceleration.z);
      Serial.print(" ");
      Serial.print(gyro.gyro.x);
      Serial.print(" ");
      Serial.print(gyro.gyro.y);
      Serial.print(" ");
      Serial.println(gyro.gyro.z);
    }

    Serial.println(); // Blank line for readability
  } else {
    // ====== Plotter-only mode (6 values, space-separated) ======
    Serial.print(accel.acceleration.x);
    Serial.print(" ");
    Serial.print(accel.acceleration.y);
    Serial.print(" ");
    Serial.print(accel.acceleration.z);
    Serial.print(" ");
    Serial.print(gyro.gyro.x);
    Serial.print(" ");
    Serial.print(gyro.gyro.y);
    Serial.print(" ");
    Serial.println(gyro.gyro.z);
  }
}