Arduino spirit Level using gyroscope with LED

Arduino spirit Level using gyroscope with 11-LED

Arduino spirit Level using gyroscope with LED


Parts list:


Circuit:
Arduino spirit Level using gyroscope with LED


Video:



Code:

#include <Wire.h>

//Declaring some global variables

int gyro_x, gyro_y, gyro_z;

long gyro_x_cal, gyro_y_cal, gyro_z_cal;

boolean set_gyro_angles;


long acc_x, acc_y, acc_z, acc_total_vector;

float angle_roll_acc, angle_pitch_acc;


float angle_pitch, angle_roll;

int angle_pitch_buffer, angle_roll_buffer;

float angle_pitch_output, angle_roll_output;


long loop_timer;

int temp;


void setup() {

  pinMode(3,OUTPUT);
  pinMode(4,OUTPUT);
  pinMode(5,OUTPUT);
  pinMode(6,OUTPUT);
  pinMode(7,OUTPUT);
  pinMode(8,OUTPUT);
  pinMode(9,OUTPUT);
  pinMode(10,OUTPUT);
  pinMode(11,OUTPUT);
  pinMode(12,OUTPUT);
  pinMode(13,OUTPUT);

  Wire.begin();                                                        //Start I2C as master

  setup_mpu_6050_registers();                                          //Setup the registers of the MPU-6050

  for (int cal_int = 0; cal_int < 1000 ; cal_int ++){                  //Read the raw acc and gyro data from the MPU-6050 for 1000 times

    read_mpu_6050_data();                                           

    gyro_x_cal += gyro_x;                                              //Add the gyro x offset to the gyro_x_cal variable

    gyro_y_cal += gyro_y;                                              //Add the gyro y offset to the gyro_y_cal variable

    gyro_z_cal += gyro_z;                                              //Add the gyro z offset to the gyro_z_cal variable

    delay(3);                                                          //Delay 3us to have 250Hz for-loop

  }


  // divide by 1000 to get avarage offset

  gyro_x_cal /= 1000;                                               

  gyro_y_cal /= 1000;                                               

  gyro_z_cal /= 1000;                                               

  Serial.begin(115200);

  loop_timer = micros();                                               //Reset the loop timer

}


void loop(){


  read_mpu_6050_data(); 

 //Subtract the offset values from the raw gyro values

  gyro_x -= gyro_x_cal;                                              

  gyro_y -= gyro_y_cal;                                              

  gyro_z -= gyro_z_cal;                                              

       

  //Gyro angle calculations . Note 0.0000611 = 1 / (250Hz x 65.5)

  angle_pitch += gyro_x * 0.0000611;                                   //Calculate the traveled pitch angle and add this to the angle_pitch variable

  angle_roll += gyro_y * 0.0000611;                                    //Calculate the traveled roll angle and add this to the angle_roll variable

  //0.000001066 = 0.0000611 * (3.142(PI) / 180degr) The Arduino sin function is in radians

  angle_pitch += angle_roll * sin(gyro_z * 0.000001066);               //If the IMU has yawed transfer the roll angle to the pitch angel

  angle_roll -= angle_pitch * sin(gyro_z * 0.000001066);               //If the IMU has yawed transfer the pitch angle to the roll angel



  //Accelerometer angle calculations

  acc_total_vector = sqrt((acc_x*acc_x)+(acc_y*acc_y)+(acc_z*acc_z));  //Calculate the total accelerometer vector

  //57.296 = 1 / (3.142 / 180) The Arduino asin function is in radians

  angle_pitch_acc = asin((float)acc_y/acc_total_vector)* 57.296;       //Calculate the pitch angle

  angle_roll_acc = asin((float)acc_x/acc_total_vector)* -57.296;       //Calculate the roll angle



  angle_pitch_acc -= 0.0;                                              //Accelerometer calibration value for pitch

  angle_roll_acc -= 0.0;                                               //Accelerometer calibration value for roll


  if(set_gyro_angles){                                                 //If the IMU is already started

    angle_pitch = angle_pitch * 0.9996 + angle_pitch_acc * 0.0004;     //Correct the drift of the gyro pitch angle with the accelerometer pitch angle

    angle_roll = angle_roll * 0.9996 + angle_roll_acc * 0.0004;        //Correct the drift of the gyro roll angle with the accelerometer roll angle

  }

  else{                                                                //At first start

    angle_pitch = angle_pitch_acc;                                     //Set the gyro pitch angle equal to the accelerometer pitch angle

    angle_roll = angle_roll_acc;                                       //Set the gyro roll angle equal to the accelerometer roll angle

    set_gyro_angles = true;                                            //Set the IMU started flag

  }



  //To dampen the pitch and roll angles a complementary filter is used

  angle_pitch_output = angle_pitch_output * 0.9 + angle_pitch * 0.1;   //Take 90% of the output pitch value and add 10% of the raw pitch value

  angle_roll_output = angle_roll_output * 0.9 + angle_roll * 0.1;      //Take 90% of the output roll value and add 10% of the raw roll value

  Serial.print(" | Angle  = "); Serial.println(angle_pitch_output);
if(angle_pitch_output > 0 && angle_pitch_output < 5)
{
  digitalWrite(3,LOW);
  digitalWrite(4,LOW);
  digitalWrite(5,LOW);
  digitalWrite(6,LOW);
  digitalWrite(7,LOW);
  digitalWrite(8,HIGH);
  digitalWrite(9,LOW);
  digitalWrite(10,LOW);
  digitalWrite(11,LOW);
  digitalWrite(12,LOW);
  digitalWrite(13,LOW);

}
else if(angle_pitch_output >= 5 && angle_pitch_output <= 20)
  {
  digitalWrite(3,LOW);
  digitalWrite(4,LOW);
  digitalWrite(5,LOW);
  digitalWrite(6,LOW);
  digitalWrite(7,HIGH);
  digitalWrite(8,HIGH);
  digitalWrite(9,LOW);
  digitalWrite(10,LOW);
  digitalWrite(11,LOW);
  digitalWrite(12,LOW);
  digitalWrite(13,LOW);
  }
else if(angle_pitch_output >= 20 && angle_pitch_output <= 35)
  {
  digitalWrite(3,LOW);
  digitalWrite(4,LOW);
  digitalWrite(5,LOW);
  digitalWrite(6,HIGH);
  digitalWrite(7,HIGH);
  digitalWrite(8,HIGH);
  digitalWrite(9,LOW);
  digitalWrite(10,LOW);
  digitalWrite(11,LOW);
  digitalWrite(12,LOW);
  digitalWrite(13,LOW);
  }
else if(angle_pitch_output >= 35 && angle_pitch_output <= 50)
  {
  digitalWrite(3,LOW);
  digitalWrite(4,LOW);
  digitalWrite(5,HIGH);
  digitalWrite(6,HIGH);
  digitalWrite(7,HIGH);
  digitalWrite(8,HIGH);
  digitalWrite(9,LOW);
  digitalWrite(10,LOW);
  digitalWrite(11,LOW);
  digitalWrite(12,LOW);
  digitalWrite(13,LOW);
  }
else if(angle_pitch_output >= 50 && angle_pitch_output <= 65)
  {
  digitalWrite(3,LOW);
  digitalWrite(4,HIGH);
  digitalWrite(5,HIGH);
  digitalWrite(6,HIGH);
  digitalWrite(7,HIGH);
  digitalWrite(8,HIGH);
  digitalWrite(9,LOW);
  digitalWrite(10,LOW);
  digitalWrite(11,LOW);
  digitalWrite(12,LOW);
  digitalWrite(13,LOW);
  }
else if(angle_pitch_output >= 65 && angle_pitch_output <= 90)
  {
  digitalWrite(3,HIGH);
  digitalWrite(4,HIGH);
  digitalWrite(5,HIGH);
  digitalWrite(6,HIGH);
  digitalWrite(7,HIGH);
  digitalWrite(8,HIGH);
  digitalWrite(9,LOW);
  digitalWrite(10,LOW);
  digitalWrite(11,LOW);
  digitalWrite(12,LOW);
  digitalWrite(13,LOW);
  }

  else if(angle_pitch_output <= 0 && angle_pitch_output >= -5)
  {
  digitalWrite(3,LOW);
  digitalWrite(4,LOW);
  digitalWrite(5,LOW);
  digitalWrite(6,LOW);
  digitalWrite(7,LOW);
  digitalWrite(8,HIGH);
  digitalWrite(9,LOW);
  digitalWrite(10,LOW);
  digitalWrite(11,LOW);
  digitalWrite(12,LOW);
  digitalWrite(13,LOW);
  }

else if(angle_pitch_output <= -5 && angle_pitch_output >= -20)
  {
  digitalWrite(3,LOW);
  digitalWrite(4,LOW);
  digitalWrite(5,LOW);
  digitalWrite(6,LOW);
  digitalWrite(7,LOW);
  digitalWrite(8,HIGH);
  digitalWrite(9,HIGH);
  digitalWrite(10,LOW);
  digitalWrite(11,LOW);
  digitalWrite(12,LOW);
  digitalWrite(13,LOW);
  }
else if(angle_pitch_output <= -20 && angle_pitch_output >= -35)
  {
  digitalWrite(3,LOW);
  digitalWrite(4,LOW);
  digitalWrite(5,LOW);
  digitalWrite(6,LOW);
  digitalWrite(7,LOW);
  digitalWrite(8,HIGH);
  digitalWrite(9,HIGH);
  digitalWrite(10,HIGH);
  digitalWrite(11,LOW);
  digitalWrite(12,LOW);
  digitalWrite(13,LOW);
  }
else if(angle_pitch_output <= -35 && angle_pitch_output >= -50)
  {
  digitalWrite(3,LOW);
  digitalWrite(4,LOW);
  digitalWrite(5,LOW);
  digitalWrite(6,LOW);
  digitalWrite(7,LOW);
  digitalWrite(8,HIGH);
  digitalWrite(9,HIGH);
  digitalWrite(10,HIGH);
  digitalWrite(11,HIGH);
  digitalWrite(12,LOW);
  digitalWrite(13,LOW);
  }
else if(angle_pitch_output <= -50 && angle_pitch_output >= -65)
  {
  digitalWrite(3,LOW);
  digitalWrite(4,LOW);
  digitalWrite(5,LOW);
  digitalWrite(6,LOW);
  digitalWrite(7,LOW);
  digitalWrite(8,HIGH);
  digitalWrite(9,HIGH);
  digitalWrite(10,HIGH);
  digitalWrite(11,HIGH);
  digitalWrite(12,HIGH);
  digitalWrite(13,LOW);
  }
else if(angle_pitch_output <= -65 && angle_pitch_output >= -90)
  {
  digitalWrite(3,LOW);
  digitalWrite(4,LOW);
  digitalWrite(5,LOW);
  digitalWrite(6,LOW);
  digitalWrite(7,LOW);
  digitalWrite(8,HIGH);
  digitalWrite(9,HIGH);
  digitalWrite(10,HIGH);
  digitalWrite(11,HIGH);
  digitalWrite(12,HIGH);
  digitalWrite(13,HIGH);
  }


 while(micros() - loop_timer < 4000);                                 //Wait until the loop_timer reaches 4000us (250Hz) before starting the next loop

 loop_timer = micros();//Reset the loop timer



}





void setup_mpu_6050_registers(){

  //Activate the MPU-6050

  Wire.beginTransmission(0x68);                                        //Start communicating with the MPU-6050

  Wire.write(0x6B);                                                    //Send the requested starting register

  Wire.write(0x00);                                                    //Set the requested starting register

  Wire.endTransmission();                                           

  //Configure the accelerometer (+/-8g)

  Wire.beginTransmission(0x68);                                        //Start communicating with the MPU-6050

  Wire.write(0x1C);                                                    //Send the requested starting register

  Wire.write(0x10);                                                    //Set the requested starting register

  Wire.endTransmission();                                           

  //Configure the gyro (500dps full scale)

  Wire.beginTransmission(0x68);                                        //Start communicating with the MPU-6050

  Wire.write(0x1B);                                                    //Send the requested starting register

  Wire.write(0x08);                                                    //Set the requested starting register

  Wire.endTransmission();                                           

}



void read_mpu_6050_data(){                                             //Subroutine for reading the raw gyro and accelerometer data

  Wire.beginTransmission(0x68);                                        //Start communicating with the MPU-6050

  Wire.write(0x3B);                                                    //Send the requested starting register

  Wire.endTransmission();                                              //End the transmission

  Wire.requestFrom(0x68,14);                                           //Request 14 bytes from the MPU-6050

  while(Wire.available() < 14);                                        //Wait until all the bytes are received

  acc_x = Wire.read()<<8|Wire.read();                                

  acc_y = Wire.read()<<8|Wire.read();                                

  acc_z = Wire.read()<<8|Wire.read();                                

  temp = Wire.read()<<8|Wire.read();                                 

  gyro_x = Wire.read()<<8|Wire.read();                               

  gyro_y = Wire.read()<<8|Wire.read();                               

  gyro_z = Wire.read()<<8|Wire.read();    

                    
}

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