Simple MPU6050 IMU + Arduino bot UPDATE

Gyro control in robots to hold direction

Nov 17, 2019

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19926 views

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23 respects

robots

Components and supplies

Arduino UNO

DC Motor, 12 V

Inertial Measurement Unit (IMU) (6 deg of freedom)

Smart car chassis

Jumper wires (generic)

L298N motor driver

Breadboard (generic)

11.1V Lipo battery

Tools and machines

Tape, Foam

Soldering iron (generic)

Multitool, Screwdriver

Apps and platforms

Arduino IDE

Fritzing

Project description

Code

Gyro_controlled_Barney.ino

c_cpp

1#include <Wire.h>
2#include <MPU6050.h>
3
4MPU6050 mpu;
5
6//  Timers
7unsigned long timer = 0;
8float timeStep = 0.01;
9
10// Pitch, Roll  and Yaw values
11float pitch = 0;
12float roll = 0;
13float yaw = 0;
14
15
16int  led = 13;
17int ena = 5;
18int enb = 6;
19int ina = 7;
20int inb = 4;
21int  inc = 9;
22int ind = 8;
23
24
25
26
27void setup() 
28{
29  Serial.begin(115200);
30
31  // Initialize MPU6050
32  while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G))
33  {
34    Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
35    delay(500);
36  }
37  
38  // Calibrate gyroscope. The calibration must be  at rest.
39  // If you don't want calibration, comment this line.
40  mpu.calibrateGyro();
41
42  // Set threshold sensivty. Default 3.
43  // If you don't want use threshold,  comment this line or set 0.
44  mpu.setThreshold(3);
45pinMode(led, OUTPUT);
46pinMode(ena,  OUTPUT);
47pinMode(enb, OUTPUT);
48pinMode(ina, OUTPUT);
49pinMode(inb, OUTPUT);
50pinMode(inc,  OUTPUT);
51pinMode(ind, OUTPUT);
52
53delay(5000); // use the delay to place  barney on the floor
54}
55
56void loop()
57{
58  timer = millis();
59
60  // Read normalized values
61  Vector norm = mpu.readNormalizeGyro();
62
63  // Calculate Pitch, Roll and Yaw
64  pitch = pitch + norm.YAxis * timeStep;
65  roll = roll + norm.XAxis * timeStep;
66  yaw = yaw + norm.ZAxis * timeStep;
67
68  // Output raw
69  Serial.print(" Pitch = ");
70  Serial.print(pitch);
71  Serial.print(" Roll = ");
72  Serial.print(roll);  
73  Serial.print(" Yaw  = ");
74  Serial.println(yaw);
75
76  // Wait to full timeStep period
77  delay((timeStep*1000)  - (millis() - timer));
78
79  if ( yaw == 0 ) {
80        digitalWrite(ina, HIGH);
81        digitalWrite(inb,HIGH);
82        analogWrite(ena, 0);
83        digitalWrite(inc,HIGH);
84        digitalWrite(ind,HIGH);
85        analogWrite(enb, 0); 
86        digitalWrite(led,  HIGH);
87  }
88  else {
89    if ( yaw < 0 ) {
90        digitalWrite(ina, HIGH);
91        digitalWrite(inb,LOW);
92        analogWrite(ena, 80);
93        digitalWrite(inc,LOW);
94        digitalWrite(ind,HIGH);
95        analogWrite(enb, 80); 
96        digitalWrite(led,  LOW);
97  }
98
99  else {
100        digitalWrite(ina, LOW);
101        digitalWrite(inb,HIGH);
102        analogWrite(ena, 80);
103        digitalWrite(inc,HIGH);
104        digitalWrite(ind,LOW);
105        analogWrite(enb, 80); 
106         digitalWrite(led, LOW);
107  }
108    
109  }
110}
111

#include <Wire.h>
#include <MPU6050.h>

MPU6050 mpu;

//  Timers
unsigned long timer = 0;
float timeStep = 0.01;

// Pitch, Roll  and Yaw values
float pitch = 0;
float roll = 0;
float yaw = 0;


int  led = 13;
int ena = 5;
int enb = 6;
int ina = 7;
int inb = 4;
int  inc = 9;
int ind = 8;




void setup() 
{
  Serial.begin(115200);

  // Initialize MPU6050
  while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G))
  {
    Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
    delay(500);
  }
  
  // Calibrate gyroscope. The calibration must be  at rest.
  // If you don't want calibration, comment this line.
  mpu.calibrateGyro();

  // Set threshold sensivty. Default 3.
  // If you don't want use threshold,  comment this line or set 0.
  mpu.setThreshold(3);
pinMode(led, OUTPUT);
pinMode(ena,  OUTPUT);
pinMode(enb, OUTPUT);
pinMode(ina, OUTPUT);
pinMode(inb, OUTPUT);
pinMode(inc,  OUTPUT);
pinMode(ind, OUTPUT);

delay(5000); // use the delay to place  barney on the floor
}

void loop()
{
  timer = millis();

  // Read normalized values
  Vector norm = mpu.readNormalizeGyro();

  // Calculate Pitch, Roll and Yaw
  pitch = pitch + norm.YAxis * timeStep;
  roll = roll + norm.XAxis * timeStep;
  yaw = yaw + norm.ZAxis * timeStep;

  // Output raw
  Serial.print(" Pitch = ");
  Serial.print(pitch);
  Serial.print(" Roll = ");
  Serial.print(roll);  
  Serial.print(" Yaw  = ");
  Serial.println(yaw);

  // Wait to full timeStep period
  delay((timeStep*1000)  - (millis() - timer));

  if ( yaw == 0 ) {
        digitalWrite(ina, HIGH);
        digitalWrite(inb,HIGH);
        analogWrite(ena, 0);
        digitalWrite(inc,HIGH);
        digitalWrite(ind,HIGH);
        analogWrite(enb, 0); 
        digitalWrite(led,  HIGH);
  }
  else {
    if ( yaw < 0 ) {
        digitalWrite(ina, HIGH);
        digitalWrite(inb,LOW);
        analogWrite(ena, 80);
        digitalWrite(inc,LOW);
        digitalWrite(ind,HIGH);
        analogWrite(enb, 80); 
        digitalWrite(led,  LOW);
  }

  else {
        digitalWrite(ina, LOW);
        digitalWrite(inb,HIGH);
        analogWrite(ena, 80);
        digitalWrite(inc,HIGH);
        digitalWrite(ind,LOW);
        analogWrite(enb, 80); 
         digitalWrite(led, LOW);
  }
    
  }
}

Downloadable files

Connections

you can use a Breadboard too

Connections

final_breadboard_e3H2cdpFRt.jpg

final_breadboard_e3H2cdpFRt.jpg

Connections

you can use a Breadboard too

Connections

Comments

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2 years ago

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2 years ago

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2 years ago

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Anonymous user

2 years ago

how can i use the same code but for a servo motor instead of l298n motor drive?

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2 years ago

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Anonymous user

2 years ago

I get you're trying to say a joystick made using a mpu6050 instead of potentiometers . https://www.nouralhda.com/%D8%B4%D8%B1%D9%83%D8%A9-%D9%85%D9%83%D8%A7%D9%81%D8%AD%D8%A9-%D8%AD%D8%B4%D8%B1%D8%A7%D8%AA-%D8%A8%D8%A7%D9%84%D8%AE%D8%B1%D8%AC/ https://www.nouralhda.com/%d8%b4%d8%b1%d9%83%d8%a9-%d8%aa%d9%86%d8%b8%d9%8a%d9%81-%d8%a8%d8%a7%d9%84%d8%ae%d8%b1%d8%ac/ https://www.nouralhda.com/%d8%b4%d8%b1%d9%83%d8%a9-%d9%86%d9%82%d9%84-%d8%b9%d9%81%d8%b4-%d8%a8%d8%a7%d9%84%d8%ae%d8%b1%d8%ac/

neverofftheinternet

2 years ago

Feel free to ask anything about the project. :)

Anonymous user

2 years ago

How is possible to turn those DC motors so slowly? My motors do not have any torque at that speed. It does not move, only on high or very high speed.

neverofftheinternet

2 years ago

Hola amigo Puede decirme qué tres líneas porque copié el código aquí y lo compilé sin errores. Instalaste la biblioteca?

neverofftheinternet

2 years ago

I get you're trying to say a joystick made using a mpu6050 instead of potentiometers . good idea and yes i will try to make that

Anonymous user

2 years ago

hola por que cada ves que uso el codigo me sale que tiene u herrol... podrias alludarme saber porque hace eso... lo copio como tiene queser y en el arduino me sale que esta mal por lo menos la 3 linea.......... por que sale eso.......alluda porfa

Anonymous user

2 years ago

can you make a tutorial that make the car move according to the joystick were pushed using this sensor ?

Anonymous user

2 years ago

hey, nice work why doesn't the code run when not connected to the serial monitor..i have no idea how to make it work when connected to my battery.

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2 years ago

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2 years ago

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2 years ago

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Anonymous user

3 years ago

hey, nice work why doesn't the code run when not connected to the serial monitor..i have no idea how to make it work when connected to my battery.

Anonymous user

4 years ago

how can i use the same code but for a servo motor instead of l298n motor drive?

Anonymous user

4 years ago

Anonymous user

5 years ago

Anonymous user

5 years ago

Anonymous user

5 years ago

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Anonymous user

5 years ago

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5 years ago

david_mool

2 years ago

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5 years ago

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5 years ago

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5 years ago

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5 years ago

Anonymous user

5 years ago

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5 years ago

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neverofftheinternet

5 years ago

Feel free to ask anything about the project. :)

neverofftheinternet

2 years ago

Hola amigo Puede decirme qué tres líneas porque copié el código aquí y lo compilé sin errores. Instalaste la biblioteca?

neverofftheinternet

2 years ago

I get you're trying to say a joystick made using a mpu6050 instead of potentiometers . good idea and yes i will try to make that

Anonymous user

2 years ago

How is possible to turn those DC motors so slowly? My motors do not have any torque at that speed. It does not move, only on high or very high speed.

Anonymous user

2 years ago

Anonymous user

2 years ago

can you make a tutorial that make the car move according to the joystick were pushed using this sensor ?

neverofftheinternet

3 Followers

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4 Projects

Intro

Components and supplies

Tools and machines

Apps and platforms

Project description

Code

Downloadable files