MPU 6050 using arduino + processing

Projects General Guidance
1

Hi, I am a final year project doing an altitude indicator using MPU 6050 and showing the graphic of it using processing. I managed to get the result for the pitch and roll angles from the MPU 6050 in arduino serial monitor. However, i have trouble sending the data to processing to display it. Is there anyone that can guide me on how to solve the problem? Thank you

This is the code from arduino

#include <Wire.h>
#include <math.h>
#define PI 3.14159265

long accelX, accelY, accelZ;
float gForceX, gForceY, gForceZ;
double pitchAngle, rollAngle, yawAngle;

long gyroX, gyroY, gyroZ;
float rotX, rotY, rotZ;

void setup()
{
  Serial.begin(9600);
  Wire.begin();
  setupMPU();
}

void loop()
{
  recordAccelRegisters();
  recordGyroRegisters();
  printData();
  delay(500);
}

void setupMPU()
{
  Wire.beginTransmission(0b1101000);
  Wire.write(0x6B);
  Wire.write(0b00000000);
  Wire.endTransmission();
  Wire.beginTransmission(0b1101000);
  Wire.write(0x1B);
  Wire.write(0x00000000);
  Wire.endTransmission();
  Wire.beginTransmission(0b1101000);
  Wire.write(0x1C);
  Wire.write(0b00000000);
  Wire.endTransmission();
}

void recordAccelRegisters()
{
  Wire.beginTransmission(0b1101000);
  Wire.write(0x3B);
  Wire.endTransmission();
  Wire.requestFrom(0b1101000, 6);
  while (Wire.available() < 6);
  accelX = Wire.read() << 8 | Wire.read();
  accelY = Wire.read() << 8 | Wire.read();
  accelZ = Wire.read() << 8 | Wire.read();
  processAccelData();
}

void processAccelData()
{
  gForceX = accelX / 16384.0;
  gForceY = accelY / 16384.0;
  gForceZ = accelZ / 16384.0;
  pitchAngle = (atan2(gForceY, sqrt(sq(gForceX) + sqrt(gForceZ)))) * (360 / (2 * PI));
  rollAngle = (atan2(gForceX, sqrt(sq(gForceY) + sqrt(gForceZ)))) * (360 / (2 * PI));
}

void recordGyroRegisters()
{
  Wire.beginTransmission(0b1101000);
  Wire.write(0x43);
  Wire.endTransmission();
  Wire.requestFrom(0b1101000, 6);
  while (Wire.available() < 6);
  gyroX = Wire.read() << 8 | Wire.read();
  gyroY = Wire.read() << 8 | Wire.read();
  gyroZ = Wire.read() << 8 | Wire.read();
  processGyroData();
}

void processGyroData()
{
  rotX = gyroZ / 131.0;
  rotY = gyroY / 131.0;
  rotZ = gyroZ / 131.0;
}

void printData()
{
  Serial.print(pitchAngle);
  Serial.print(",");
  Serial.println(rollAngle);
}
2

This is the code for processing

//Thanks to Adrian Fernandez
//Communication updates by M.Furkan Bahat November 2014
//For more information http://mfurkanbahat.blogspot.com.tr/

import processing.serial.*;
import cc.arduino.*;

int W=1400; //My Laptop's screen width 
int H=700;  //My Laptop's screen height 
float Pitch; 
float Bank; 
float Azimuth; 
float ArtificialHoizonMagnificationFactor=0.7; 
float CompassMagnificationFactor=0.85; 
float SpanAngle=120; 
int NumberOfScaleMajorDivisions; 
int NumberOfScaleMinorDivisions; 
PVector v1, v2; 


Serial port;
float Phi;    //Dimensional axis
float Theta;
//float Psi;

void setup() 
{ 
  size(1400, 700); 
  rectMode(CENTER); 
  smooth(); 
  strokeCap(SQUARE);//Optional 
  
  //println(Serial.list()); //Shows your connected serial ports
  port = new Serial(this, "COM31", 9600); 
  //Up there you should select port which arduino connected and same baud rate.
  port.bufferUntil('\n'); 
}
void draw() 
{ 
  background(0); 
  translate(W/4, H/2.1);  
  MakeAnglesDependentOnMPU6050(); 
  Horizon(); 
  rotate(-Bank); 
  PitchScale(); 
  Axis(); 
  rotate(Bank); 
  Borders(); 
  Plane(); 
  ShowAngles(); 
  Compass(); 
  ShowAzimuth(); 
}
void serialEvent(Serial port) //Reading the datas by Processing.
{
   String input = port.readStringUntil('\n');
  if(input != null){
   input = trim(input);
  String[] values = split(input, " ");
 if(values.length == 3){
  float phi = float(values[0]);
  float theta = float(values[1]); 
  //float psi = float(values[2]); 
  print(phi);
  print(theta);
  //println(psi);
  Phi = phi;
  Theta = theta;
  //Psi = psi;
   }
  }
}
void MakeAnglesDependentOnMPU6050() 
{ 
  Bank =-Phi/5; 
  Pitch=Theta*10; 
  //Azimuth=Psi;
}
void Horizon() 
{ 
  scale(ArtificialHoizonMagnificationFactor); 
  noStroke(); 
  fill(0, 180, 255); 
  rect(0, -100, 900, 1000); 
  fill(95, 55, 40); 
  rotate(-Bank); 
  rect(0, 400+Pitch, 900, 800); 
  rotate(Bank); 
  rotate(-PI-PI/6); 
  SpanAngle=120; 
  NumberOfScaleMajorDivisions=12; 
  NumberOfScaleMinorDivisions=24;  
  CircularScale(); 
  rotate(PI+PI/6); 
  rotate(-PI/6);  
  CircularScale(); 
  rotate(PI/6); 
}
void ShowAzimuth() 
{ 
  fill(50); 
  noStroke(); 
  rect(20, 470, 440, 50); 
  int Azimuth1=round(Azimuth); 
  textAlign(CORNER); 
  textSize(35); 
  fill(255); 
  text("Azimuth:  "+Azimuth1+" Deg", 80, 477, 500, 60); 
  textSize(40);
  fill(25,25,150);
  text("M.Furkan Bahat", -350, 477, 500, 60); 
}
void Compass() 
{ 
  translate(2*W/3, 0); 
  scale(CompassMagnificationFactor); 
  noFill(); 
  stroke(100); 
  strokeWeight(80); 
  ellipse(0, 0, 750, 750); 
  strokeWeight(50); 
  stroke(50); 
  fill(0, 0, 40); 
  ellipse(0, 0, 610, 610); 
  for (int k=255;k>0;k=k-5) 
  { 
    noStroke(); 
    fill(0, 0, 255-k); 
    ellipse(0, 0, 2*k, 2*k); 
  } 
  strokeWeight(20); 
  NumberOfScaleMajorDivisions=18; 
  NumberOfScaleMinorDivisions=36;  
  SpanAngle=180; 
  CircularScale(); 
  rotate(PI); 
  SpanAngle=180; 
  CircularScale(); 
  rotate(-PI); 
  fill(255); 
  textSize(60); 
  textAlign(CENTER); 
  text("W", -375, 0, 100, 80); 
  text("E", 370, 0, 100, 80); 
  text("N", 0, -365, 100, 80); 
  text("S", 0, 375, 100, 80); 
  textSize(30); 
  text("COMPASS", 0, -130, 500, 80); 
  rotate(PI/4); 
  textSize(40); 
  text("NW", -370, 0, 100, 50); 
  text("SE", 365, 0, 100, 50); 
  text("NE", 0, -355, 100, 50); 
  text("SW", 0, 365, 100, 50); 
  rotate(-PI/4); 
  CompassPointer(); 
}
void CompassPointer() 
{ 
  rotate(PI+radians(Azimuth));  
  stroke(0); 
  strokeWeight(4); 
  fill(100, 255, 100); 
  triangle(-20, -210, 20, -210, 0, 270); 
  triangle(-15, 210, 15, 210, 0, 270); 
  ellipse(0, 0, 45, 45);   
  fill(0, 0, 50); 
  noStroke(); 
  ellipse(0, 0, 10, 10); 
  triangle(-20, -213, 20, -213, 0, -190); 
  triangle(-15, -215, 15, -215, 0, -200); 
  rotate(-PI-radians(Azimuth)); 
}
void Plane() 
{ 
  fill(0); 
  strokeWeight(1); 
  stroke(0, 255, 0); 
  triangle(-20, 0, 20, 0, 0, 25); 
  rect(110, 0, 140, 20); 
  rect(-110, 0, 140, 20); 
}
void CircularScale() 
{ 
  float GaugeWidth=800;  
  textSize(GaugeWidth/30); 
  float StrokeWidth=1; 
  float an; 
  float DivxPhasorCloser; 
  float DivxPhasorDistal; 
  float DivyPhasorCloser; 
  float DivyPhasorDistal; 
  strokeWeight(2*StrokeWidth); 
  stroke(255);
  float DivCloserPhasorLenght=GaugeWidth/2-GaugeWidth/9-StrokeWidth; 
  float DivDistalPhasorLenght=GaugeWidth/2-GaugeWidth/7.5-StrokeWidth;
  for (int Division=0;Division<NumberOfScaleMinorDivisions+1;Division++) 
  { 
    an=SpanAngle/2+Division*SpanAngle/NumberOfScaleMinorDivisions;  
    DivxPhasorCloser=DivCloserPhasorLenght*cos(radians(an)); 
    DivxPhasorDistal=DivDistalPhasorLenght*cos(radians(an)); 
    DivyPhasorCloser=DivCloserPhasorLenght*sin(radians(an)); 
    DivyPhasorDistal=DivDistalPhasorLenght*sin(radians(an));   
    line(DivxPhasorCloser, DivyPhasorCloser, DivxPhasorDistal, DivyPhasorDistal); 
  }
  DivCloserPhasorLenght=GaugeWidth/2-GaugeWidth/10-StrokeWidth; 
  DivDistalPhasorLenght=GaugeWidth/2-GaugeWidth/7.4-StrokeWidth;
  for (int Division=0;Division<NumberOfScaleMajorDivisions+1;Division++) 
  { 
    an=SpanAngle/2+Division*SpanAngle/NumberOfScaleMajorDivisions;  
    DivxPhasorCloser=DivCloserPhasorLenght*cos(radians(an)); 
    DivxPhasorDistal=DivDistalPhasorLenght*cos(radians(an)); 
    DivyPhasorCloser=DivCloserPhasorLenght*sin(radians(an)); 
    DivyPhasorDistal=DivDistalPhasorLenght*sin(radians(an)); 
    if (Division==NumberOfScaleMajorDivisions/2|Division==0|Division==NumberOfScaleMajorDivisions) 
    { 
      strokeWeight(15); 
      stroke(0); 
      line(DivxPhasorCloser, DivyPhasorCloser, DivxPhasorDistal, DivyPhasorDistal); 
      strokeWeight(8); 
      stroke(100, 255, 100); 
      line(DivxPhasorCloser, DivyPhasorCloser, DivxPhasorDistal, DivyPhasorDistal); 
    } 
    else 
    { 
      strokeWeight(3); 
      stroke(255); 
      line(DivxPhasorCloser, DivyPhasorCloser, DivxPhasorDistal, DivyPhasorDistal); 
    } 
  } 
}
void Axis() 
{ 
  stroke(255, 0, 0); 
  strokeWeight(3); 
  line(-115, 0, 115, 0); 
  line(0, 280, 0, -280); 
  fill(100, 255, 100); 
  stroke(0); 
  triangle(0, -285, -10, -255, 10, -255); 
  triangle(0, 285, -10, 255, 10, 255); 
}
void ShowAngles() 
{ 
  textSize(30); 
  fill(50); 
  noStroke(); 
  rect(-150, 400, 280, 40); 
  rect(150, 400, 280, 40); 
  fill(255); 
  Pitch=Pitch/5; 
  int Pitch1=round(Pitch);  
  text("Pitch:  "+Pitch1+" Deg", -20, 411, 500, 60); 
  text("Bank:  "+Bank*100+" Deg", 280, 411, 500, 60); 
}
void Borders() 
{ 
  noFill(); 
  stroke(0); 
  strokeWeight(400); 
  rect(0, 0, 1100, 1100); 
  strokeWeight(200); 
  ellipse(0, 0, 1000, 1000); 
  fill(0); 
  noStroke(); 
  rect(4*W/5, 0, W, 2*H); 
  rect(-4*W/5, 0, W, 2*H); 
}
void PitchScale() 
{  
  stroke(255); 
  fill(255); 
  strokeWeight(3); 
  textSize(24); 
  textAlign(CENTER); 
  for (int i=-4;i<5;i++) 
  {  
    if ((i==0)==false) 
    { 
      line(110, 50*i, -110, 50*i); 
    }  
    text(""+i*10, 140, 50*i, 100, 30); 
    text(""+i*10, -140, 50*i, 100, 30); 
  } 
  textAlign(CORNER); 
  strokeWeight(2); 
  for (int i=-9;i<10;i++) 
  {  
    if ((i==0)==false) 
    {    
      line(25, 25*i, -25, 25*i); 
    } 
  } 
}
3

There's an editable code called MPUteapot.pde or something that does all these things very well. Download that to see how it does it. That can help to get your code going maybe.