This is my code btw`
// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
// for both classes must be in the include path of your project
#include "I2Cdev.h"
#include "MPU6050.h"
// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
// is used in I2Cdev.h
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
#include "Wire.h"
#endif
// class default I2C address is 0x68
// specific I2C addresses may be passed as a parameter here
// AD0 low = 0x68 (default for InvenSense evaluation board)
// AD0 high = 0x69
MPU6050 accelgyro;
//MPU6050 accelgyro(0x69); // <-- use for AD0 high
// Declare Stepper Motor used pins
const int dirPin = 3;
const int stepPin = 4;
const int enPin = 6;
const int limit1 = 5;// left limit
//const int limit2 = 12;// right limit
int16_t ax, ay, az;
int16_t gx, gy, gz;
// uncomment "OUTPUT_READABLE_ACCELGYRO" if you want to see a tab-separated
// list of the accel X/Y/Z and then gyro X/Y/Z values in decimal. Easy to read,
// not so easy to parse, and slow(er) over UART.
#define OUTPUT_READABLE_ACCELGYRO
// uncomment "OUTPUT_BINARY_ACCELGYRO" to send all 6 axes of data as 16-bit
// binary, one right after the other. This is very fast (as fast as possible
// without compression or data loss), and easy to parse, but impossible to read
// for a human.
//#define OUTPUT_BINARY_ACCELGYRO
#define LED_PIN 13
bool blinkState = false;
void setup() {
// Set up stepper motor
Serial.begin(1200);
pinMode(stepPin, OUTPUT);
pinMode(dirPin, OUTPUT);
pinMode(enPin, OUTPUT);
digitalWrite(enPin, LOW); // active le driver
//Set up 2 limit switch
pinMode(limit1 , INPUT_PULLUP);
//pinMode(limit2 , INPUT_PULLUP);
// join I2C bus (I2Cdev library doesn't do this automatically)
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
Wire.begin();
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
Fastwire::setup(400, true);
#endif
// initialize serial communication
// (38400 chosen because it works as well at 8MHz as it does at 16MHz, but
// it's really up to you depending on your project)
Serial.begin(1200);
// initialize device
Serial.println("Initializing I2C devices...");
accelgyro.initialize();
// verify connection
Serial.println("Testing device connections...");
Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
// use the code below to change accel/gyro offset values
/*
Serial.println("Updating internal sensor offsets...");
// -76 -2359 1688 0 0 0
Serial.print(accelgyro.getXAccelOffset()); Serial.print("\t"); // -76
Serial.print(accelgyro.getYAccelOffset()); Serial.print("\t"); // -2359
Serial.print(accelgyro.getZAccelOffset()); Serial.print("\t"); // 1688
Serial.print(accelgyro.getXGyroOffset()); Serial.print("\t"); // 0
Serial.print(accelgyro.getYGyroOffset()); Serial.print("\t"); // 0
Serial.print(accelgyro.getZGyroOffset()); Serial.print("\t"); // 0
Serial.print("\n");
accelgyro.setXGyroOffset(220);
accelgyro.setYGyroOffset(76);
accelgyro.setZGyroOffset(-85);
Serial.print(accelgyro.getXAccelOffset()); Serial.print("\t"); // -76
Serial.print(accelgyro.getYAccelOffset()); Serial.print("\t"); // -2359
Serial.print(accelgyro.getZAccelOffset()); Serial.print("\t"); // 1688
Serial.print(accelgyro.getXGyroOffset()); Serial.print("\t"); // 0
Serial.print(accelgyro.getYGyroOffset()); Serial.print("\t"); // 0
Serial.print(accelgyro.getZGyroOffset()); Serial.print("\t"); // 0
Serial.print("\n");
*/
// configure Arduino LED pin for output
pinMode(LED_PIN, OUTPUT);
digitalWrite(dirPin, LOW); // setup motor turn left first
do {
digitalWrite(stepPin , HIGH);
delayMicroseconds(10000);
digitalWrite(stepPin , LOW);
delayMicroseconds(10000);
} while (digitalRead(limit1) == LOW); // motor turn left until touch limit 1 handle
delay(500);
digitalWrite(enPin, HIGH); //desactive le driver dès que le fin de course est atteint
// read raw accel/gyro measurements from device
accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
// these methods (and a few others) are also available
//accelgyro.getAcceleration(&ax, &ay, &az);
//accelgyro.getRotation(&gx, &gy, &gz);
#ifdef OUTPUT_READABLE_ACCELGYRO
// display tab-separated accel/gyro x/y/z values
Serial.print("a/g:\t");
Serial.print(ax/16384.0); Serial.print("\t");
Serial.print(ay/16384.0 ); Serial.print("\t");
Serial.println(az/16384.0); Serial.print("\t");
//Serial.print(gx); Serial.print("\t");
//Serial.print(gy); Serial.print("\t");
//Serial.println(gz);
#endif
#ifdef OUTPUT_BINARY_ACCELGYRO
Serial.write((uint8_t)(ax >> 8)); Serial.write((uint8_t)(ax & 0xFF));
Serial.write((uint8_t)(ay >> 8)); Serial.write((uint8_t)(ay & 0xFF));
Serial.write((uint8_t)(az >> 8)); Serial.write((uint8_t)(az & 0xFF));
Serial.write((uint8_t)(gx >> 8)); Serial.write((uint8_t)(gx & 0xFF));
Serial.write((uint8_t)(gy >> 8)); Serial.write((uint8_t)(gy & 0xFF));
Serial.write((uint8_t)(gz >> 8)); Serial.write((uint8_t)(gz & 0xFF));
#endif
delay(2000);
// blink LED to indicate activity
blinkState = !blinkState;
digitalWrite(LED_PIN, blinkState);
if (analogRead(ax) <= 0,1 && analogRead(ay)>= -0,9 && analogRead(az)<= 0,1) { //1 X=0 Y=-1 Z=0
for (int i=0; i <= 100; i++){
digitalWrite(enPin, LOW); // reactive le driver
digitalWrite(dirPin, HIGH); // setup motor turn right first
digitalWrite(stepPin , HIGH);
delayMicroseconds(10000);
digitalWrite(stepPin , LOW);
delayMicroseconds(10000);
}
delay(500);
digitalWrite(enPin, HIGH);
}
else if (analogRead(ax) >= -0,1 && analogRead(ay)>= 0,9 && analogRead(az)>= -0,1 ) { //2 X=0 Y=1 Z=0
for (int i=0; i <= 200; i++){
digitalWrite(enPin, LOW); // reactive le driver
digitalWrite(dirPin, HIGH); // setup motor turn left first
digitalWrite(stepPin , HIGH);
delayMicroseconds(10000);
digitalWrite(stepPin , LOW);
delayMicroseconds(10000);
}
delay(500);
digitalWrite(enPin, HIGH);
}
else { digitalWrite(enPin, HIGH); } //driver disabled, motor not running
}
void loop() {}
