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MPU6050 IMU with Arduino
- 1. MPU-6050 Inertia Measurement Unit(IMU) with Arduino By: Yeo Kheng Meng (yeokm1@gmail.com) https://github.com/SustainableLivingLab/imu-mpu6050-usage Startathon (20 Feb 2016) Designathon (9 Jan 2016) 1
- 2. Equipment check 1. Laptopinstalled with Arduino IDE • https://www.arduino.cc/en/Main/Software 2. Arduino Uno 3. USB cable 4. MPU-6050 5. Breadboard 6. At least 5 jumper wires 2
- 3. What is anIMU? • Inertia Measurement Unit • Measures rate of change of movement via acceleration sensors along the axes • Commonly called accelerometers • Measures orientation changes via gyroscopic sensors 3
- 4. What is MPU-6050? •An IMU that includes a temperature sensor • Accelerometer + Gyroscope -> 6 degrees of freedom Note the axes 4
- 5. 6 degrees offreedom • Accelerometer: Left-Right, Back-Forward, Up-Down • Gyroscope: Pitch, Roll, Yaw 5
- 6. Connectivity with Arduino 6 Source:http://diyhacking.com/arduino-mpu-6050-imu-sensor-tutorial/
- 7. Code • Download andextract zip file • https://github.com/yeokm1/imu-mpu6050-usage • Remove “-master” from directory name • imu-mpu6050-usage-master -> imu-mpu6050-usage • Open “imu-mpu6050-usage.ino” 7
- 8. Concept of I²C •Two-wire connection between components • SDA and SCL • One master and many slaves • Master: Arduino • Slave: MPU6050 • Every slave has its own address • MPU6050 default address = 0x68 8
- 9. Arduino I²C commandstructure • Start I2C transmission • Wire.beginTransmission(“address”) • Set register to write to • Wire.write(“register”) • Read/Write to register • Wire.read(), Wire.write(“value”) • End I2C transmission • Wire.endTransmission(true); 9
- 10. MPU-6050 results • OpenSerial Monitor and observe results • Try rocking the IMU side to side/rotating/moving in a regular manner • Accelerometer results • AcX, AcY and AcZ • Gyroscope results • GyX, GyY and GyZ 10
- 11. Making sense ofthe results • Disable autoscroll • Copy paste values to spreadsheet like Excel • Select column A • Data Tab, Text to columns, Delimited, tick Space, Finish • Add an empty row above the first row • Add column titles above values on first row • AcX, AcY, AcZ, GyX, GyY, GyZ • Delete unused rows • Creating a chart • Select only the 6 columns • Insert Tab, Line chart • See how the data corresponds to the movement 11
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