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Topic: GOPRO PAN/TILT system drived by MPU6050 gyroscope (Read 1 time) previous topic - next topic

quoy

below video of simple mount for GOPRO PAN/TILT driving with MPU6050 gyroscope

https://www.youtube.com/watch?v=X6xh0q07kjs


GaryP

So you don't want to share the code? You are bad person. You pay services? Evil!

And I am going to be banned...

Not cheers,
Kari

The only law for me; Ohms Law: U=R*I       P=U*I
Note to self: "Damn! Why don't you just fix it!!!"

quoy

So you don't want to share the code? You are bad person. You pay services? Evil!
And I am going to be banned...
Not cheers,
Kari
No problem to share the code , just have to ask for it , you'll find it below naughty boy :-)  



#include "Servo.h"
Servo monServomoteur1;
Servo monServomoteur2;
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
   #include "Wire.h"
#endif
MPU6050 mpu;
#define OUTPUT_READABLE_YAWPITCHROLL

// MPU control/status vars
bool dmpReady = false;  // set true if DMP init was successful
uint8_t mpuIntStatus;   // holds actual interrupt status byte from MPU
uint8_t devStatus;      // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize;    // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount;     // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer

// orientation/motion vars
Quaternion q;           // [w, x, y, z]         quaternion container
VectorFloat gravity;    // [x, y, z]            gravity vector
float euler[3];         // [psi, theta, phi]    Euler angle container
float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector

// ================================================================
// ===               INTERRUPT DETECTION ROUTINE                ===
// ================================================================

volatile bool mpuInterrupt = false;     // indicates whether MPU interrupt pin has gone high
void dmpDataReady() {
   mpuInterrupt = true;
}

// ================================================================
// ===                      INITIAL SETUP                       ===
// ================================================================

void setup() {
   monServomoteur1.attach(9);
   monServomoteur2.attach(10);
   // join I2C bus (I2Cdev library doesn't do this automatically)
   #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
       Wire.begin();
       TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz)
   #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
       Fastwire::setup(400, true);
   #endif

    // initialize device
   mpu.initialize();
   // load and configure the DMP
   devStatus = mpu.dmpInitialize();

   // supply your own gyro offsets here, scaled for min sensitivity
   mpu.setXGyroOffset(122);
   mpu.setYGyroOffset(-2);
   mpu.setZGyroOffset(2);
   mpu.setXAccelOffset(-5622);
   mpu.setYAccelOffset(-81);
   mpu.setZAccelOffset(734);

   // make sure it worked (returns 0 if so)
   if (devStatus == 0) {
       // turn on the DMP, now that it's ready
       mpu.setDMPEnabled(true);
       // enable Arduino interrupt detection
       attachInterrupt(0, dmpDataReady, RISING);
       mpuIntStatus = mpu.getIntStatus();
       // set our DMP Ready flag so the main loop() function knows it's okay to use it
        dmpReady = true;
       // get expected DMP packet size for later comparison
       packetSize = mpu.dmpGetFIFOPacketSize();
   } else {
       // ERROR!
       // 1 = initial memory load failed
       // 2 = DMP configuration updates failed
       // (if it's going to break, usually the code will be 1)
   }
}

// ================================================================
// ===                    MAIN PROGRAM LOOP                     ===
// ================================================================

void loop() {
   // if programming failed, don't try to do anything
   if (!dmpReady) return;

   // wait for MPU interrupt or extra packet(s) available
   while (!mpuInterrupt && fifoCount < packetSize) {

   }

   // reset interrupt flag and get INT_STATUS byte
   mpuInterrupt = false;
   mpuIntStatus = mpu.getIntStatus();

   // get current FIFO count
   fifoCount = mpu.getFIFOCount();

   // check for overflow (this should never happen unless our code is too inefficient)
   if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
       // reset so we can continue cleanly
       mpu.resetFIFO();
   // otherwise, check for DMP data ready interrupt (this should happen frequently)
   } else if (mpuIntStatus & 0x02) {
       // wait for correct available data length, should be a VERY short wait
       while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
       // read a packet from FIFO
       mpu.getFIFOBytes(fifoBuffer, packetSize);  
       // track FIFO count here in case there is > 1 packet available
       // (this lets us immediately read more without waiting for an interrupt)
       fifoCount -= packetSize;  
       #ifdef OUTPUT_READABLE_YAWPITCHROLL
           // display Euler angles in degrees
           mpu.dmpGetQuaternion(&q, fifoBuffer);
           mpu.dmpGetGravity(&gravity, &q);
           mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);

           monServomoteur1.write(90-(ypr[0]*80));      
           monServomoteur2.write(90+(ypr[1]*80));
      #endif
   }
}

GaryP

Thank you!
:)


It was a beer talking yesterday, I apologise!

I can't wait to test that code, I have had so much problems with the MPU6050, I think it's fake.


Cheers,
Kari

The only law for me; Ohms Law: U=R*I       P=U*I
Note to self: "Damn! Why don't you just fix it!!!"

quoy

Thank you!

I can't wait to test that code, I have had so much problems with the MPU6050, I think it's fake.
be carefull, before using the MPU 6050 you have to "calibrate" it in order to get the gyro ofsets .if you forget to do it , it's normal to have bad results ...

below a link  for a tutorial explaining how to do it :
https://www.instructables.com/id/MPU6050-Setup-and-Calibration-Guide/

quoy


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