In this video lesson we show you how to take the calibrated accelerometer data from the MPU6050 and use it to calculate the tilt of the board. We can calculate tilt in two axis, or the roll and the pitch. This is the schematic for the project:
This is the code we developed in the video to calculate the roll and pitch from the three axis accelerometer data.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 | #include <Adafruit_MPU6050.h> #include <Adafruit_Sensor.h> #include <Wire.h> float Ax; float Ay; float Az; // If You want Calibrated results, you must rotate // your board to all possible orientations, and // record your velues of xMax, xMin, yMax, yMin // zMax, zMin. I show you how to do that in LESSON // 79 on my youtube channel. Put in your values and then // uncomment the code below. Don't use my values, you have // to measure your own for it to work. // float xMax= 1.03; // float xMin= -.97; // float yMax= .98; // float yMin= -1.01; // float zMax=.96 ; // float zMin= -1.08; // float xOffset = (xMax+xMin)/2; // float yOffset = (yMax+yMin)/2; // float zOffset = (zMax+zMin)/2; // float xScale = 2/(xMax -xMin); // float yScale = 2/(yMax - yMin); // float zScale = 2/(zMax -zMin); float roll; float pitch; Adafruit_MPU6050 mpu; void setup() { // put your setup code here, to run once: Serial.begin(115200); mpu.begin(); Serial.println("MPU6050 Started!"); mpu.setAccelerometerRange(MPU6050_RANGE_2_G); mpu.setFilterBandwidth(MPU6050_BAND_21_HZ); } void loop() { // put your main code here, to run repeatedly: sensors_event_t a, g, temp; mpu.getEvent(&a, &g, &temp); Ax=a.acceleration.x/9.81; Ay=a.acceleration.y/9.81; Az=a.acceleration.z/9.81; //Uncomment these lines of code to do the callibration //This will only work if you have measured your max //and min values, and put them in at the top of the code // Ax = xScale*(Ax-xOffset); // Ay = yScale*(Ay-yOffset); // Az = zScale*(Az-zOffset); pitch = atan2(Ay,sqrt(Az*Az+Ax*Ax))*360/(2*3.14); roll = atan2(Ax,sqrt(Az*Az+Ay*Ay))*360/(2*3.14); Serial.print("Roll:"); Serial.print(roll); Serial.print(','); Serial.print("Pitch:"); Serial.print(pitch); Serial.print(','); Serial.print("UL:"); Serial.print(90); Serial.print(','); Serial.print("LL:"); Serial.println(-90); // Serial.print("Ax:"); // Serial.print(Ax); // Serial.print(','); // Serial.print("Ay:"); // Serial.print(Ay); // Serial.print(','); // Serial.print("Az:"); // Serial.print(Az); // Serial.print(','); // Serial.print("UL:"); // Serial.print(1); // Serial.print(','); // Serial.print("LL:"); // Serial.println(-1); delay(50); } |