MPU6050 Arduino Gimbal

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
  }
}

Hey @zabi4 !

Imma guess you didn't write that code and you have little idea how it works.

Where did it come from? Post a link. Is there no information there and google fails you totally?

a7

I ve been dowloading and trying so many codes that i cant track where which one is from.