GOPRO PAN/TILT system drived by MPU6050 gyroscope

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

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

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

No problem to share the code , just have to ask for it , you’ll find it below naughty boy :slight_smile:

#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
}
}

Thank you!
:slight_smile:

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

GaryP:
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 :

an other example of nice application with MPU 6050: Artifical Horizon