In this video lesson we describe how to measure roll, pitch, and yaw using the MPU6050. We describe the issues associated with drift in these gyros and will propose a path forward in dealing with the drift issue.

We are using the following circuit for this project:

And this is the code we develop in today’s lesson.

from imu import MPU6050
from machine import I2C,Pin
import math
import time
 
i2c=I2C(0, sda=Pin(16), scl=Pin(17), freq=400000)
mpu = MPU6050(i2c)
 
roll=0
pitch=0
yaw=0
tLoop=0
cnt=0
 
while True:
    tStart=time.ticks_ms()
    xGyro=mpu.gyro.x
    yGyro=mpu.gyro.y
    zGyro=mpu.gyro.z
    roll=roll+yGyro*tLoop
    pitch=pitch+xGyro*tLoop
    yaw=yaw+zGyro*tLoop
    cnt=cnt+1
    if cnt==10:
        cnt=0
        print('R: ',roll,'P: ',pitch,'Y: ',yaw)
    tStop=time.ticks_ms()
    tLoop=(tStop-tStart)*.001

from imu import MPU6050

from machine import I2C,Pin

import math

import time

i2c=I2C(0, sda=Pin(16), scl=Pin(17), freq=400000)

mpu = MPU6050(i2c)

roll=0

pitch=0

yaw=0

tLoop=0

cnt=0

while True:

tStart=time.ticks_ms()

xGyro=mpu.gyro.x

yGyro=mpu.gyro.y

zGyro=mpu.gyro.z

roll=roll+yGyro*tLoop

pitch=pitch+xGyro*tLoop

yaw=yaw+zGyro*tLoop

cnt=cnt+1

if cnt==10:

cnt=0

print('R: ',roll,'P: ',pitch,'Y: ',yaw)

tStop=time.ticks_ms()

tLoop=(tStop-tStart)*.001

MicroPython, Raspberry Pi Pico

Two Axis Tilt Meter Displaying Pitch and Roll Using an MPU6050 on the Raspberry Pi Pico W

December 5, 2023 admin

In this video lesson, we demonstrate how to create a two-axis tilt meter. The device displays both the pitch and roll on an OLED. In addition to this quantitative display of tilt and roll, it also shows a carpenter’s level type visual, where a circle, or bubble moves to indicate tilt. When the circle is centered on the crosshairs, the device is flat in both axis.

For your convenience, this is the schematic we are using:

And we also include the code we developed in this lesson.

from imu import MPU6050
from machine import I2C,Pin
import math
import time
from ssd1306 import SSD1306_I2C

def circle(radius,xOff,yOff):
    xCenter=64
    yCenter=45
    for deg in range(0,360):
        rads=deg/360*2*math.pi
        x=radius*math.cos(rads)
        y=radius*math.sin(rads)
        dsp.pixel(int(x+xCenter-xOff),int(y+yCenter-yOff),1)

i2c=I2C(0, sda=Pin(16), scl=Pin(17), freq=400000)
mpu = MPU6050(i2c)

i2c2=I2C(1,sda=Pin(2), scl=Pin(3), freq=400000)
dsp=SSD1306_I2C(128,64,i2c2)
dsp.fill(0)

while True:
    xAccel=mpu.accel.x
    yAccel=mpu.accel.y
    zAccel=mpu.accel.z
    
    pitch=math.atan(yAccel/zAccel)
    roll=math.atan(xAccel/zAccel)
    pitchDeg=pitch/(2*math.pi)*360
    rollDeg=roll/(2*math.pi)*360
    #print('pitch: ',pitchDeg, 'roll: ',rollDeg)
    dsp.text('Tiltomatic',0,0)
    msg='P: '+str(round(pitchDeg,1))+' R: '+str(round(rollDeg,1))
    dsp.text(msg,0,16)
    dsp.rect(0,26,128,38,1)
    dsp.hline(0,45,128,1)
    dsp.vline(64,26,38,1)
    print(pitchDeg,rollDeg)
    circle(7,int(2.5*pitchDeg),int(rollDeg))
    dsp.show()
    dsp.fill(0)
    time.sleep(.1)

from imu import MPU6050

from machine import I2C,Pin

import math

import time

from ssd1306 import SSD1306_I2C

def circle(radius,xOff,yOff):

xCenter=64

yCenter=45

for deg in range(0,360):

rads=deg/360*2*math.pi

x=radius*math.cos(rads)

y=radius*math.sin(rads)

dsp.pixel(int(x+xCenter-xOff),int(y+yCenter-yOff),1)

i2c=I2C(0, sda=Pin(16), scl=Pin(17), freq=400000)

mpu = MPU6050(i2c)

i2c2=I2C(1,sda=Pin(2), scl=Pin(3), freq=400000)

dsp=SSD1306_I2C(128,64,i2c2)

dsp.fill(0)

while True:

xAccel=mpu.accel.x

yAccel=mpu.accel.y

zAccel=mpu.accel.z

pitch=math.atan(yAccel/zAccel)

roll=math.atan(xAccel/zAccel)

pitchDeg=pitch/(2*math.pi)*360

rollDeg=roll/(2*math.pi)*360

#print('pitch: ',pitchDeg, 'roll: ',rollDeg)

dsp.text('Tiltomatic',0,0)

msg='P: '+str(round(pitchDeg,1))+' R: '+str(round(rollDeg,1))

dsp.text(msg,0,16)

dsp.rect(0,26,128,38,1)

dsp.hline(0,45,128,1)

dsp.vline(64,26,38,1)

print(pitchDeg,rollDeg)

circle(7,int(2.5*pitchDeg),int(rollDeg))

dsp.show()

dsp.fill(0)

time.sleep(.1)

Uncategorized

Measure Pitch and Roll with the MPU6050

November 30, 2023 admin

This is a simple example of how to measure Pitch and Roll using a 3-axis accelerometer as found on the MPU6050.

from imu import MPU6050
from machine import I2C,Pin
import math
import time

i2c=I2C(0, sda=Pin(16), scl=Pin(17), freq=400000)
mpu = MPU6050(i2c)

roll=0
pitch=0

while True:
    xAccel=mpu.accel.x
    yAccel=mpu.accel.y
    zAccel=mpu.accel.z
    pitch=math.atan(yAccel/zAccel)
    roll=math.atan(xAccel/zAccel)
    pitchDeg=pitch/(2*math.pi)*360
    rollDeg=roll/(2*math.pi)*360
    print('pitch: ',pitchDeg, 'roll: ',rollDeg)
    time.sleep(.05)

from imu import MPU6050

from machine import I2C,Pin

import math

import time

i2c=I2C(0, sda=Pin(16), scl=Pin(17), freq=400000)

mpu = MPU6050(i2c)

roll=0

pitch=0

while True:

xAccel=mpu.accel.x

yAccel=mpu.accel.y

zAccel=mpu.accel.z

pitch=math.atan(yAccel/zAccel)

roll=math.atan(xAccel/zAccel)

pitchDeg=pitch/(2*math.pi)*360

rollDeg=roll/(2*math.pi)*360

print('pitch: ',pitchDeg, 'roll: ',rollDeg)

time.sleep(.05)

Raspberry Pi Pico

Schematic for Tilt Meter Using the MPU6050

October 24, 2023 admin

Below we show the detailed schematic we use for the Tilt Meter we are developing based on the MPU6050 IMU sensor.

This is the simple code for measuring acceleration in the x and y axis. We will develop this much further in future lessons, but this is just to verify things are hooked up correctly, and that we can measure accelleration.

from imu import MPU6050
from machine import I2C,Pin
import time

i2c=I2C(0, sda=Pin(16), scl=Pin(17), freq=400000)
mpu = MPU6050(i2c)

while True:
    xAccel=round(mpu.accel.x,1)
    yAccel=round(mpu.accel.y,1)
    print('x: ',xAccel,' G ', 'y: ',yAccel,' G')
    time.sleep(.1)

from imu import MPU6050

from machine import I2C,Pin

import time

i2c=I2C(0, sda=Pin(16), scl=Pin(17), freq=400000)

mpu = MPU6050(i2c)

while True:

xAccel=round(mpu.accel.x,1)

yAccel=round(mpu.accel.y,1)

print('x: ',xAccel,' G ', 'y: ',yAccel,' G')

time.sleep(.1)

MicroPython, Raspberry Pi Pico

Convert HSV to RGB in Micropython

September 12, 2023 admin

<span data-mce-type="bookmark" style="display: inline-block; width: 0px; overflow: hidden; line-height: 0;" class="mce_SELRES_start"></span>
In this video lesson we showed how to convert an angle on the HSV color wheel into an RGB value that can be applied to an RGB LED. In effect, we can find a color we like on the HSV color wheel, and turn the LED in our project that color. The video above shows the framework we are using, and then derives the equations, and then develops the code. For your convenience, the code for the conversion is shown below. To make this a library, we save it as h2RGB.py on our Raspberry Pi Pico W. You can save it either in the same folder your main programs are in, or in the lib folder. To use the library, then simply import the file (h2RGB) and call the method h2RGB.getRGB(degrees), where degrees is the point on the HSV color wheel you want to convert. All of this is explained in detail in the above video.

def getRGB(deg):
    m=1/60
    if deg>=0 and deg<60:
        R=1
        G=0
        B=m*deg
    if deg>=60 and deg<120:
        R=1-m*(deg-60)
        G=0
        B=1
    if deg>=120 and deg<180:
        R=0
        G=m*(deg-120)
        B=1
    if deg>=180 and deg<240:
        R=0
        G=1
        B=1-m*(deg-180)
    if deg>=240 and deg<300:
        R=m*(deg-240)
        G=1
        B=0
    if deg>=300 and deg<360:
        R=1
        G=1-m*(deg-300)
        B=0
    myColor=(R,G,B)
    return myColor

def getRGB(deg):

m=1/60

if deg>=0 and deg<60:

R=1

G=0

B=m*deg

if deg>=60 and deg<120:

R=1-m*(deg-60)

G=0

B=1

if deg>=120 and deg<180:

R=0

G=m*(deg-120)

B=1

if deg>=180 and deg<240:

R=0

G=1

B=1-m*(deg-180)

if deg>=240 and deg<300:

R=m*(deg-240)

G=1

B=0

if deg>=300 and deg<360:

R=1

G=1-m*(deg-300)

B=0

myColor=(R,G,B)

return myColor

Technology Tutorials

Measuring Roll, Pitch, and Yaw Using 3-Axis Gyro on the MPU6050

Two Axis Tilt Meter Displaying Pitch and Roll Using an MPU6050 on the Raspberry Pi Pico W

Measure Pitch and Roll with the MPU6050

Schematic for Tilt Meter Using the MPU6050

Convert HSV to RGB in Micropython

Making The World a Better Place One High Tech Project at a Time. Enjoy!