So I'm trying to make a segway robot with lego type motors, mpu6050, l298n, and a arduino uno. Im certain i have it all wired right. I made a prototype with continuous motion servos and that was to twitchy.
Here is my code i am currently trying to use.
#include <Wire.h>
#include <MPU6050.h>
int16_t ax, ay, az;
int16_t gx, gy, gz;
int val;
MPU6050 mpu;
int a1 = 4;
int a2 = 5;
int b1 = 7;
int b2 = 8;
void setup() {
Wire.begin();
mpu.initialize();
pinMode(a1, OUTPUT);
pinMode(a2, OUTPUT);
pinMode(b1, OUTPUT);
pinMode(b2, OUTPUT);
digitalWrite(a1, HIGH);
digitalWrite(a2, HIGH);
digitalWrite(b1, HIGH);
digitalWrite(b2, HIGH);
Serial.begin(9600);
}
void loop() {
mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
val = map(ay, -15000, 15000, 0, 500);
if (val > 250) {
digitalWrite(a1, HIGH);
digitalWrite(a2, LOW);
digitalWrite(b1, LOW);
digitalWrite(b2, HIGH);
} else {
digitalWrite(a1, LOW);
digitalWrite(a2, HIGH);
digitalWrite(b1, HIGH);
digitalWrite(b2, LOW);
}
analogWrite(3, val);
analogWrite(6, val);
}