Category Archives: MicroPython

In this lesson we show how to write modular code in micropython. We demonstrate this with a simple example of how to calculate parameters of interest for a given rectangle. For your convenience, the code developed in the video is presented below. Enjoy!

def rectSolve(len,wid):
    #global area,perimeter,diagonal
    area=rectArea(len,wid)
    perimeter=rectPerimeter(len,wid)
    diagonal=rectDiagonal(len,wid)
    return area,perimeter,diagonal

def rectArea(len,wid):
    area=len*wid
    return area

def rectPerimeter(len,wid):
    perimeter=2*len+2*wid
    return perimeter

def rectDiagonal(len,wid):
    diag=(len**2+wid**2)**(1/2)
    return diag
   
while True:
    l=float(input("What is Length of your Rectangle? "))
    w=float(input("what is the Width of your Rectuangle? "))
    a,p,d = rectSolve(l,w)
    print("Your Rectangle Information: ")
    print("Area: ",a)
    print("Perimeter: ",p)
    print("Diagonal: ",d)
    print()

def rectSolve(len,wid):

#global area,perimeter,diagonal

area=rectArea(len,wid)

perimeter=rectPerimeter(len,wid)

diagonal=rectDiagonal(len,wid)

return area,perimeter,diagonal

def rectArea(len,wid):

area=len*wid

return area

def rectPerimeter(len,wid):

perimeter=2*len+2*wid

return perimeter

def rectDiagonal(len,wid):

diag=(len**2+wid**2)**(1/2)

return diag

while True:

l=float(input("What is Length of your Rectangle? "))

w=float(input("what is the Width of your Rectuangle? "))

a,p,d = rectSolve(l,w)

print("Your Rectangle Information: ")

print("Area: ",a)

print("Perimeter: ",p)

print("Diagonal: ",d)

print()

MicroPython, Raspberry Pi Pico

Calibrating Joystick to Show Positional Angle in MicroPython on the Raspberry Pi Pico W

March 5, 2024 admin

In this Video Lesson we show how to calibrate a joystick to report Angular Position. We do this using MicroPython on a Raspberry Pi Pico W. For your convenience, the code is included below.

import machine
import time
import math
hPin=27
vPin=26
hJoy= machine.ADC(hPin)
vJoy= machine.ADC(vPin)
while True:
    hVal=hJoy.read_u16()
    vVal=vJoy.read_u16()
    
    hCal=int(-.00306*hVal+100.766)
    vCal=int(.00306*vVal-100.766)
    
    deg=math.atan2(vCal,hCal)*360/2/math.pi
    if hCal==0:
        hCal=1
    if deg<0:
        deg=deg+360
    
    mag=math.sqrt(hCal**2+vCal**2)
    if mag<=4:
        hCal=0
        vCal=0
    
    print(hCal,vCal,deg)
    time.sleep_ms(200)

import machine

import time

import math

hPin=27

vPin=26

hJoy= machine.ADC(hPin)

vJoy= machine.ADC(vPin)

while True:

hVal=hJoy.read_u16()

vVal=vJoy.read_u16()

hCal=int(-.00306*hVal+100.766)

vCal=int(.00306*vVal-100.766)

deg=math.atan2(vCal,hCal)*360/2/math.pi

if hCal==0:

hCal=1

if deg<0:

deg=deg+360

mag=math.sqrt(hCal**2+vCal**2)

if mag<=4:

hCal=0

vCal=0

print(hCal,vCal,deg)

time.sleep_ms(200)

MicroPython, Raspberry Pi Pico

Remove Long Term Steady State Errors from MPU6050 Tilt Measurements

January 2, 2024 admin

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

Technology Tutorials

Category Archives: MicroPython

How to Write Modular Code With Micropython Functions

Calibrating Joystick to Show Positional Angle in MicroPython on the Raspberry Pi Pico W

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

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