Category Archives: MicroPython

In this video lesson I show you how to remove long term steady state error from the tilt values calculated from the MPU6050 IMU. We are using the following schematic for our prototype.

For your convenience, this is the code we developed in the video.

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)
 
rollG=0
pitchG=0

rollComp=0
pitchComp=0

errorR=0
errorP=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
    
    xAccel=mpu.accel.x
    yAccel=mpu.accel.y
    zAccel=mpu.accel.z
    
    rollG=rollG+yGyro*tLoop
    pitchG=pitchG+xGyro*tLoop
    
    rollA=math.atan(xAccel/zAccel)/2/math.pi*360
    pitchA=math.atan(yAccel/zAccel)/2/math.pi*360
    
    rollComp= rollA*.005 + .995*(rollComp+yGyro*tLoop)+errorR*.005
    pitchComp= pitchA*.005 + .995*(pitchComp+xGyro*tLoop)+errorP*.005
    
    errorP=errorP + (pitchA-pitchComp)*tLoop
    errorR=errorR + (rollA-rollComp)*tLoop
    
    cnt=cnt+1
    if cnt==10:
        cnt=0
        print('RA: ',rollA,'PA: ',pitchA,'RC: ',rollComp,'PC: ',pitchComp)
        #print('RA: ',rollA,'RC: ',rollComp)
    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)

rollG=0

pitchG=0

rollComp=0

pitchComp=0

errorR=0

errorP=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

xAccel=mpu.accel.x

yAccel=mpu.accel.y

zAccel=mpu.accel.z

rollG=rollG+yGyro*tLoop

pitchG=pitchG+xGyro*tLoop

rollA=math.atan(xAccel/zAccel)/2/math.pi*360

pitchA=math.atan(yAccel/zAccel)/2/math.pi*360

rollComp= rollA*.005 + .995*(rollComp+yGyro*tLoop)+errorR*.005

pitchComp= pitchA*.005 + .995*(pitchComp+xGyro*tLoop)+errorP*.005

errorP=errorP + (pitchA-pitchComp)*tLoop

errorR=errorR + (rollA-rollComp)*tLoop

cnt=cnt+1

if cnt==10:

cnt=0

print('RA: ',rollA,'PA: ',pitchA,'RC: ',rollComp,'PC: ',pitchComp)

#print('RA: ',rollA,'RC: ',rollComp)

tStop=time.ticks_ms()

tLoop=(tStop-tStart)*.001

MicroPython, Raspberry Pi Pico

Improving Accuracy of MPU6050 Data Using a Complimentary Filter

December 26, 2023 admin

In this video lesson we show how to create a complimentary filter such we get pitch and roll data from the MPU6050 which is quick and responsive, accurate, and low noise. We are using the following schematic:

This is the code we developed in the video.

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)
 
rollG=0
pitchG=0

rollComp=0
pitchComp=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
    
    xAccel=mpu.accel.x
    yAccel=mpu.accel.y
    zAccel=mpu.accel.z
    
    rollG=rollG+yGyro*tLoop
    pitchG=pitchG+xGyro*tLoop
    
    rollA=math.atan(xAccel/zAccel)/2/math.pi*360
    pitchA=math.atan(yAccel/zAccel)/2/math.pi*360
    
    rollComp= rollA*.005 + .995*(rollComp+yGyro*tLoop)
    pitchComp= pitchA*.005 + .995*(pitchComp+xGyro*tLoop)
    
    cnt=cnt+1
    if cnt==10:
        cnt=0
        print('RA: ',rollA,'PA: ',pitchA,'RC: ',rollComp,'PC: ',pitchComp)
    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)

rollG=0

pitchG=0

rollComp=0

pitchComp=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

xAccel=mpu.accel.x

yAccel=mpu.accel.y

zAccel=mpu.accel.z

rollG=rollG+yGyro*tLoop

pitchG=pitchG+xGyro*tLoop

rollA=math.atan(xAccel/zAccel)/2/math.pi*360

pitchA=math.atan(yAccel/zAccel)/2/math.pi*360

rollComp= rollA*.005 + .995*(rollComp+yGyro*tLoop)

pitchComp= pitchA*.005 + .995*(pitchComp+xGyro*tLoop)

cnt=cnt+1

if cnt==10:

cnt=0

print('RA: ',rollA,'PA: ',pitchA,'RC: ',rollComp,'PC: ',pitchComp)

tStop=time.ticks_ms()

tLoop=(tStop-tStart)*.001

MicroPython, Raspberry Pi Pico

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

December 19, 2023 admin

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)

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

Category Archives: MicroPython

Remove Long Term Steady State Errors from MPU6050 Tilt Measurements

Improving Accuracy of MPU6050 Data Using a Complimentary Filter

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

Convert HSV to RGB in Micropython

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