Hello,
I am trying to read data from mpu6050 using the below code. I have used the same code with arduinomega2560 which works perfectly fine with it. But when using the same code with esp32 it gives me a contact value of 134.96. Could you please help.
Since I downloaded this board from expressif the Wire library is already present, but I suppose it is not the same as in the Wire library of Arduino mega 2560. So i tried to copy this library to the library set of the ESP32 in expressif while deleting the original library from esp32, but this also doesn't seem to work instead it give me an error of multiple libraries present.
#include "Wire.h"
#define MPU_addr 0x68
double AccelX,AccelY,AccelZ,Tmp,GyroX,GyroY,GyroZ; //These will be the raw data from the MPU6050.
uint32_t timer; //it's a timer, saved as a big-ass unsigned int. We use it to save times from the "micros()" command and subtract the present time in microseconds from the time stored in timer to calculate the time for each loop.
double Angle_X, Angle_Y; //These are the angles in the complementary filter
#define degconvert 57.29577951//there are like 57 degrees in a radian.
void setup()
{
Wire.begin();
#if ARDUINO >= 157
Wire.setClock(400000UL); // Set I2C frequency to 400kHz
#else
TWBR = ((F_CPU / 400000UL) - 16) / 2; // Set I2C frequency to 400kHz
#endif
Wire.beginTransmission(MPU_addr);
Wire.write(0x6B); // PWR_MGMT_1 register
Wire.write(0); // set to zero (wakes up the MPU-6050)
Wire.endTransmission(true);
Serial.begin(57600);
delay(100);
//setup starting angle
//1) collect the data
Wire.beginTransmission(MPU_addr);
Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H)
Wire.endTransmission(false);
Wire.requestFrom(MPU_addr,14,true); // request a total of 14 registers
AccelX=Wire.read()<<8|Wire.read(); // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)
AccelY=Wire.read()<<8|Wire.read(); // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
AccelZ=Wire.read()<<8|Wire.read(); // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)
Tmp=Wire.read()<<8|Wire.read(); // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L)
GyroX=Wire.read()<<8|Wire.read(); // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
GyroY=Wire.read()<<8|Wire.read(); // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
GyroZ=Wire.read()<<8|Wire.read(); // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)
}
void loop()
{
Wire.beginTransmission(MPU_addr);
Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H)
Wire.endTransmission(false);
Wire.requestFrom(MPU_addr,14,true); // request a total of 14 registers
AccelX=Wire.read()<<8|Wire.read(); // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)
AccelY=Wire.read()<<8|Wire.read(); // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
AccelZ=Wire.read()<<8|Wire.read(); // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)
Tmp=Wire.read()<<8|Wire.read(); // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L)
GyroX=Wire.read()<<8|Wire.read(); // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
GyroY=Wire.read()<<8|Wire.read(); // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
GyroZ=Wire.read()<<8|Wire.read(); // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)
double dt = (double)(micros() - timer) / 1000000;
timer = micros();
double roll = atan2(AccelY, AccelZ)*degconvert;
double pitch = atan2(-AccelX, AccelZ)*degconvert;
double gyroXrate = GyroX/131.0;
double gyroYrate = GyroY/131.0;
Angle_X = 0.99 * (Angle_X + gyroXrate * dt) + 0.01 * roll;
Angle_Y = 0.99 * (Angle_Y + gyroYrate * dt) + 0.01 * pitch;
Serial.println(Angle_Y);
}
