Gimbal without servo motor library.

Hello everyone. My graduation project is making gimbal with arduino. I have a code and a started to arrangement. Hovewer, my supervisor wanted, dont use the servo library. How can ı make a gimbal without servo library.

/*
DIY Gimbal - MPU6050 Arduino Tutorial
by Dejan, www.HowToMechatronics.com
Code based on the MPU6050_DMP6 example from the i2cdevlib library by Jeff Rowberg:
GitHub - jrowberg/i2cdevlib: I2C device library collection for AVR/Arduino or other C++-based MCUs
*/
// 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_6Axis_MotionApps20.h”

//#include “MPU6050.h” // not necessary if using MotionApps include file

// 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
#include <Servo.h>
// class default I2C address is 0x68
// specific I2C addresses may be passed as a parameter here
// AD0 low = 0x68 (default for SparkFun breakout and InvenSense evaluation board)
// AD0 high = 0x69
MPU6050 mpu;
//MPU6050 mpu(0x69); // ← use for AD0 high

// Define the 3 servo motors
Servo servo0;
Servo servo1;
Servo servo2;
float correct;
int j = 0;

#define OUTPUT_READABLE_YAWPITCHROLL

#define INTERRUPT_PIN 2 // use pin 2 on Arduino Uno & most boards

bool blinkState = false;

// 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
VectorInt16 aa; // [x, y, z] accel sensor measurements
VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements
VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements
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

// packet structure for InvenSense teapot demo
uint8_t teapotPacket[14] = { ‘$’, 0x02, 0, 0, 0, 0, 0, 0, 0, 0, 0x00, 0x00, ‘\r’, ‘\n’ };

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

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

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

void setup() {
// join I2C bus (I2Cdev library doesn’t do this automatically)
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
Wire.begin();
Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
Fastwire::setup(400, true);
#endif

// initialize serial communication
// (115200 chosen because it is required for Teapot Demo output, but it’s
// really up to you depending on your project)
Serial.begin(38400);
while (!Serial); // wait for Leonardo enumeration, others continue immediately

// initialize device
//Serial.println(F(“Initializing I2C devices…”));
mpu.initialize();
pinMode(INTERRUPT_PIN, INPUT);
devStatus = mpu.dmpInitialize();
// supply your own gyro offsets here, scaled for min sensitivity
mpu.setXGyroOffset(17);
mpu.setYGyroOffset(-69);
mpu.setZGyroOffset(27);
mpu.setZAccelOffset(1551); // 1688 factory default for my test chip

// make sure it worked (returns 0 if so)
if (devStatus == 0) {
// turn on the DMP, now that it’s ready
// Serial.println(F(“Enabling DMP…”));
mpu.setDMPEnabled(true);

attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);
mpuIntStatus = mpu.getIntStatus();

// set our DMP Ready flag so the main loop() function knows it’s okay to use it
//Serial.println(F(“DMP ready! Waiting for first interrupt…”));
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)
// Serial.print(F(“DMP Initialization failed (code “));
//Serial.print(devStatus);
//Serial.println(F(”)”));
}

// Define the pins to which the 3 servo motors are connected
servo0.attach(8);
servo1.attach(9);

}
// ================================================================
// === 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) {
if (mpuInterrupt && fifoCount < packetSize) {
// try to get out of the infinite loop
fifoCount = mpu.getFIFOCount();
}
}

// 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 & _BV(MPU6050_INTERRUPT_FIFO_OFLOW_BIT)) || fifoCount >= 1024) {
// reset so we can continue cleanly
mpu.resetFIFO();
fifoCount = mpu.getFIFOCount();
Serial.println(F(“FIFO overflow!”));

// otherwise, check for DMP data ready interrupt (this should happen frequently)
} else if (mpuIntStatus & _BV(MPU6050_INTERRUPT_DMP_INT_BIT)) {
// 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;

// Get Yaw, Pitch and Roll values
#ifdef OUTPUT_READABLE_YAWPITCHROLL
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);

// Yaw, Pitch, Roll values - Radians to degrees
ypr[0] = ypr[0] * 180 / M_PI;
ypr[1] = ypr[1] * 180 / M_PI;
ypr[2] = ypr[2] * 180 / M_PI;

// Skip 300 readings (self-calibration process)
if (j <= 300) {
correct = ypr[0]; // Yaw starts at random value, so we capture last value after 300 readings
j++;
}
// After 300 readings
else {
ypr[0] = ypr[0] - correct; // Set the Yaw to 0 deg - subtract the last random Yaw value from the currrent value to make the Yaw 0 degrees
// Map the values of the MPU6050 sensor from -90 to 90 to values suatable for the servo control from 0 to 180
int servo0Value = map(ypr[0], -90, 90, 0, 180);
int servo1Value = map(ypr[1], -90, 90, 0, 180);

// Control the servos according to the MPU6050 orientation
servo0.write(servo0Value);
servo1.write(servo1Value);

}
#endif
}
}

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Hello everyone. My graduation project is making gimbal with arduino. I have a code and a started to arrangement. Hovewer, my supervisor wanted, dont use the servo library. How can ı make a gimbal without servo library.

Does your current code, using the servo library, behave the way you want?
If so, set it aside.
Go load up the SWEEP tutorial.
Rewrite it so that it does not use the servo library.
When you have that working, bring that code into your original project.

By gimbal do you mean an active multi-axis attitude control system using 3-phase brushless motors sold as
"gimbal motors"? In other words you want to replace two servos with two brushless motors?

Please then provide links to all the hardware datasheets/product pages so we know what you are trying
to drive.