luisilva, valeu pega dica, eu possuo um projeto gimbal que utiliza motores servos o que eu preciso é colocar motores de passo no lugar dos servos. segue o codigo que utilizo.
//MPU 6050 2 axis Servo kontrol
#include <Servo.h>
#include <Wire.h>
#include <I2Cdev.h>
#include <MPU6050.h>
MPU6050 mpu;
int16_t ax, ay, az;
int16_t gx, gy, gz;
Servo myservoY;
Servo myservoX;
int valY;
int prevValY;
int valX;
int prevValX;
void setup()
{
Wire.begin();
Serial.begin(38400);
Serial.println("Initialize MPU");
mpu.initialize();
Serial.println(mpu.testConnection() ? "Connected" : "Connection failed");
myservoY.attach(9);
myservoX.attach(10);
}
void loop()
{
mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
valY = map(ay, -17000, 17000, 0, 179);
valX = map(ax, -17000, 17000, 0, 179);
if (valY != prevValY)
{
myservoY.write(valY);
prevValY = valY;
}
if (valX != prevValX)
{
myservoX.write(valX);
prevValX = valX;
}
delay(50);
}