I already have been troubleshooting this many times and still don't know the reason why it's always not working properly.
I found out that my last MPU-6050 was broken so I bought new ones to test if it was the issue, and it was.
Now, when I used my Arduino Micro for some reason I get stuck on "Initializing I2C devices..." I tried scanning it and also the get stuck "Scanning devices..." so I switched to Arduino UNO R3 (Clone) to see if it would work, and it did.
But, for now my motors work and then after some seconds now they only move but a tiny bit clockwise and counterclockwise like a mm. I tried with a different UNO clone and still the exact same issue.
I Checked if the MPU was broken but when I checked it it was working as it didn't give me any errors about DMP unable to initialize it but when I tried processing it to the 3D sample view and it wasn't moving whenever I move the MPU around.
This is A schematic of my board
This is the code
#include "PID_v1.h"
#include "LMotorController.h"
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
#include "Wire.h"
#endif
#define MIN_ABS_SPEED 20
MPU6050 mpu;
// 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 ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
//PID
double originalSetpoint = 165;
double setpoint = originalSetpoint;
double movingAngleOffset = 0.1;
double input, output;
int moveState=0; //0 = balance; 1 = back; 2 = forth
double Kp = 50; // First adjustment
double Kd = 0; // Second adjustment
double Ki = 0; // Third adjustment
PID pid(&input, &output, &setpoint, Kp, Ki, Kd, DIRECT); // kp = 55,kd=0.9
double motorSpeedFactorLeft = 0.6;
double motorSpeedFactorRight = 0.6;
//MOTOR CONTROLLER
int ENA = 10;
int IN1 = 6;
int IN2 = 7;
int IN3 = 8;
int IN4 = 9;
int ENB = 11;
LMotorController motorController(ENA, IN1, IN2, ENB, IN3, IN4, motorSpeedFactorLeft, motorSpeedFactorRight);
//timers
long time1Hz = 0;
long time5Hz = 0;
volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
void dmpDataReady()
{
mpuInterrupt = true;
}
void setup()
{
// 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 serial communication
// (115200 chosen because it is required for Teapot Demo output, but it's
// really up to you depending on your project)
Serial.begin(115200);
while (!Serial); // wait for Leonardo enumeration, others continue immediately
// initialize device
Serial.println(F("Initializing I2C devices..."));
mpu.initialize();
// verify connection
Serial.println(F("Testing 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(220);
mpu.setYGyroOffset(76);
mpu.setZGyroOffset(-85);
mpu.setZAccelOffset(1788); // 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();
//setup PID
pid.SetMode(AUTOMATIC);
pid.SetSampleTime(10);
pid.SetOutputLimits(-255, 255);
}
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(")"));
}
}
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)
{
//no mpu data - performing PID calculations and output to motors
pid.Compute();
motorController.move(output, MIN_ABS_SPEED);
}
// 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;
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
#if LOG_INPUT
Serial.print("ypr\t");
Serial.print(ypr[0] * 180/M_PI);
Serial.print("\t");
Serial.print(ypr[1] * 180/M_PI);
Serial.print("\t");
Serial.println(ypr[2] * 180/M_PI);
#endif
input = ypr[1] * 180/M_PI + 180;
}
}
I am planning to try 9-DOF Gyro board Like Adafruit's or Sparkfun's if I find them available in my area, but I am not sure if it is advisable with Self-Balancing Robot.
