Hey everyone. Im using MPU6050 and servo motor to make a gimbal. The issue is that my sensor is only reading values when its stabilized on the breadboard while i need it to be on the gimbal platform. So when i change the angle of the sensor my motor is constantly running until i stabilize the sensor at 0 angle again. How can i make my motor move to the angle and stop until i change the angle of the sensor again ? THanks so much.
#include "I2Cdev.h"
#include <Servo.h>
#include <Wire.h>
#include "MPU6050_6Axis_MotionApps20.h"
//#include "MPU6050.h" // not necessary if using MotionApps include file
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
#include "Wire.h"
#endif
MPU6050 mpu;
Servo SvRoll, SvPitch, SvYaw, Stest;
#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
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
int SdriveRoll, SdrivePitch, SdriveYaw;
int RollOffset = 0, PitchOffset = -2, YawOffset = 0;
int YawInitial = 0, YawSetInit = 0;
// For interrupt detection on port D2
volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
void dmpDataReady()
{
mpuInterrupt = true;
}
void setup()
{
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
Wire.begin();
TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz). Comment this line if having compilation difficulties with TWBR.
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
Fastwire::setup(400, true);
#endif
Serial.begin(115200);
// initialize device
Serial.println(F("Initializing Gyro sensor devices..."));
mpu.initialize();
// verify connection
Serial.println(F("Gyro device connections..."));
Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
// load and configure the DMP
Serial.println(F("Initializing DMP..."));
devStatus = mpu.dmpInitialize();
// supply your own gyro offsets here, scaled for min sensitivity
mpu.setXGyroOffset(84);
mpu.setYGyroOffset(34);
mpu.setZGyroOffset(28);
mpu.setZAccelOffset(1081); // 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);
// enable Arduino interrupt detection
Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
attachInterrupt(0, 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(")"));
}
//Configuration servo drive port.
SvRoll.attach(9);
SvPitch.attach(4);
SvYaw.attach(5);
//Start-up initial position setting.
SvRoll.write(90);
SvPitch.write(90);
SvYaw.write(90 + YawOffset);
//Case of Yaw controlling, wait for z euler angle stable
//Serial.print("\n Waiting for Z euler angle stable..");
//delay(3500);
}
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)
{
//Do something
}
// 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();
Serial.println(F("FIFO overflow!"));
// 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);
while (YawSetInit = 0)
{
YawInitial = int(ypr[0] * 180 / M_PI);
YawSetInit = 1; // Already set.
}
//Feedback angle, final drive Servo
SdriveRoll = int(ypr[2] * 180 / M_PI);
SdrivePitch = int(ypr[1] * 180 / M_PI);
SdriveYaw = (int(ypr[0] * 180 / M_PI)) - YawInitial;
// if (SdriveRoll != RollOffset) {
SvRoll.write(1.00 * (90 - SdriveRoll + RollOffset));
// SvPitch.write(1.00*(90-SdrivePitch+PitchOffset));
//SvYaw.write(90-SdriveYaw); >> Pending YAW-Servo drive (still have bug)
//delay(2000);
//RollOffset = SdriveRoll; }
Serial.println(SdriveRoll);
Serial.print("\t");
// Serial.print(SdrivePitch);
// Serial.print("\t");
// Serial.print(SdriveYaw);
//Serial.print("\n");
#endif
}
}