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Arduino MPU-6050 Motor Control Code

This document contains code for controlling a motor based on gyroscope readings from an MPU-6050 sensor. It initializes pin connections for motor control and I2C communication, reads gyroscope data from the sensor, maps the gyroscope values to a PWM output to control motor speed, and prints the gyroscope values for debugging. The motor direction and speed are adjusted based on changes in the gyroscope reading to stabilize rotation.

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18 views2 pages

Arduino MPU-6050 Motor Control Code

This document contains code for controlling a motor based on gyroscope readings from an MPU-6050 sensor. It initializes pin connections for motor control and I2C communication, reads gyroscope data from the sensor, maps the gyroscope values to a PWM output to control motor speed, and prints the gyroscope values for debugging. The motor direction and speed are adjusted based on changes in the gyroscope reading to stabilize rotation.

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#include<Wire.

h>
int in3 = 5;
int in4 = 4;
int enB = 3; //B
int enA = 8; //A
int in1 = 7;
int in2 = 6;
const int MPU_addr=0x68; // I2C address of the MPU-6050
int16_t GyY; // declare accellerometer and gyro variables
int16_t A=0;
int16_t B=0;
int time;
int S;
void setup(){
pinMode(enA, OUTPUT);
pinMode(in1, OUTPUT);
pinMode(in2, OUTPUT);
pinMode(enB,OUTPUT);
pinMode(in3, OUTPUT);
pinMode(in4, OUTPUT);
[Link](); // initiate i2c system
[Link](MPU_addr); // be sure we talk to our MPU vs some other
device
[Link](0x6B); // PWR_MGMT_1 register
[Link](0); // set to zero (wakes up the MPU-6050)
[Link](true); // done talking over to MPU device, for the moment
[Link](2000000); // initialize serial port to 9600 bps so you can see your
debug messages in Arduino IDE via debug channel
}
void loop(){ // main program loop
[Link](MPU_addr); // get ready to talk to MPU again
[Link](0x3B); // starting with register 0x3B (ACCEL_XOUT_H)
[Link](false); // done talking to MPU for the time being
[Link](MPU_addr,14,true); // request a total of 14 registers
// all the fancy <<8| stuff is to bit shift the first 8 bits to
// the left & combine it with the next 8 bits to form 16 bits

GyY=[Link]()<<8|[Link](); // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)


// the above lines have gathered Accellerometer values for X, Y, Z
// as well as Gyroscope values for X, Y, Z

; //Control

A=GyY/100;

if((A>0)&&((A-B)>2)){ // N?u A tang th� tang i, n�n


digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);
S = map(A,0,200,0,255);
analogWrite(enB, S);
}
if((A<0)&&((A-B)<-2)){ // N?u A gi?m th� tang i, d?y
digitalWrite(in3, LOW);
digitalWrite(in4, HIGH);
S = map(A,0,-200,0,255);
analogWrite(enB, S);
}
if(-2<(A-B)<2){
time=millis();
int duration = millis() - time; // do th?i gian duy tr� tr?ng th�i hi?n t?i
duration = constrain(duration,0,1000); // 0 <= duration <= 1000 ms.
S = map(A,0,200,255,0);
analogWrite(enB,S); // xu?t xung PWM d? di?u khi?n t?c d? motor
// duty cycle c�ng l?n th� motor quay c�ng
nhanh
}

B = A;
[Link] (A);
delay(50); // delay a bit to not overwhelm you the user/programmer as you view
the results
}

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