Filipe-Moleiro:
I forgot to click on the monitor serie, so now i tried it, the servo is moving now, but not consenquetly the mpu. Now back to your answers:
Yes I am getting the values with the mpu. Yes it does. Yes they do. I am moving the mpu on all the axis to see if the servo is responding to it, which it isn't. No i am not, unfortunately right now i don´t have the necessary materials for it, but tomorrow I will work on it.
I am going to power the servo with an external power suply and see if it is responding. Once I do I'll update you. Thank you.
This is excellent so the whole control the servo thing is really easy!!
NOTE since you are using the LED pin 13 on your servo be sure to change the line (near the top)
#define LED_PIN 13 //
to another pin so the heartbeat i created won't interfere with the servo positioning.
You are going to pulse the servo between 1 and 2 milliseconds depending on where you want to be and then delay for a while. the mpu6050 pulses the int pin every 10ms for us and the servo I think likes a 20 ms delay between pulses (it could handle 10ms but I'm not sure) so we will skip a gyro reading and perform a simple pulse delay.
I'm focusing on the MPUMath() function
// ================================================================
// === MPU Math ===
// ================================================================
float Yaw, Pitch, Roll;
void MPUMath() {
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
Yaw = (ypr[0] * 180.0 / M_PI);
Pitch = (ypr[1] * 180.0 / M_PI);
Roll = (ypr[2] * 180.0 / M_PI);
static bool Toggle ;
Toggle = Toggle !
int ServoPosition; // this will contain a value between 1000 and 2000 (1500 is center)
// this triggers every 10ms and we need to pulse the servo every 20ms so skip every other one.
if (Toggle ){
ServoPosition = map (Yaw, -180, 180,1000,2000);
digitalWrite(13,HIGH);
delayMicroseconds(ServoPostion); // ---Nasty blocking DELAY for testing only!!!--- we will make a change and use a millis timer later
digitalWrite(13,LOW);
}
// ... debug stuff
}
Z