Anip Shah
Published © MIT

Tilt Detection Using MPU-6050 & Arduino Nano

MPU-6050 is an accelerometer & gyroscope sensor which interfaced with Arduino nano can detect tilt while using LEDs as visual indicators.

IntermediateFull instructions provided2 hours798
Tilt Detection Using MPU-6050 & Arduino Nano

Things used in this project

Story

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Schematics

Tilt detection.

Follow the schematic diagram below:

Code

Tilt detection.

C/C++
#include <Wire.h>

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();                                                   

  setup_mpu_6050_registers();                                    

  for (int cal_int = 0; cal_int < 1000 ; cal_int ++){              
    read_mpu_6050_data();                                            
    gyro_x_cal += gyro_x;                                            
    gyro_y_cal += gyro_y;                                          
    gyro_z_cal += gyro_z;                                          
   delay(3);                                                
  }
  gyro_x_cal /= 1000;                                                
  gyro_y_cal /= 1000;                                                
  gyro_z_cal /= 1000;                                                
  Serial.begin(115200);
  loop_timer = micros();                                        
}


void loop(){
  read_mpu_6050_data();  
  gyro_x -= gyro_x_cal;                                               
  gyro_y -= gyro_y_cal;                                               
  gyro_z -= gyro_z_cal;                                               
  angle_pitch += gyro_x * 0.0000611;                                  
  angle_roll += gyro_y * 0.0000611;                                
  angle_pitch += angle_roll * sin(gyro_z * 0.000001066);           
  angle_roll -= angle_pitch * sin(gyro_z * 0.000001066);           
  acc_total_vector = sqrt((acc_x*acc_x)+(acc_y*acc_y)+(acc_z*acc_z)); 
  angle_pitch_acc = asin((float)acc_y/acc_total_vector)* 57.296;     
  angle_roll_acc = asin((float)acc_x/acc_total_vector)* -57.296;      
  angle_pitch_acc -= 0.0;                                             
  angle_roll_acc -= 0.0;                                          

  if(set_gyro_angles){                                                
    angle_pitch = angle_pitch * 0.9996 + angle_pitch_acc * 0.0004;  
    angle_roll = angle_roll * 0.9996 + angle_roll_acc * 0.0004;       
  }
  else{                                                             
    angle_pitch = angle_pitch_acc;                                   
    angle_roll = angle_roll_acc;                                     
    set_gyro_angles = true;                                            
  }
  angle_pitch_output = angle_pitch_output * 0.9 + angle_pitch * 0.1;   
  angle_roll_output = angle_roll_output * 0.9 + angle_roll * 0.1;     
  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);                                
 loop_timer = micros();

}

void setup_mpu_6050_registers(){
  Wire.beginTransmission(0x68);                                      
  Wire.write(0x6B);                                               
  Wire.write(0x00);                                                 
  Wire.endTransmission();                                            
  Wire.beginTransmission(0x68);                                  
  Wire.write(0x1C);                                           
  Wire.write(0x10);                                                 
  Wire.endTransmission();                                            
  Wire.beginTransmission(0x68);                                     
  Wire.write(0x1B);                                                
  Wire.write(0x08);                                               
  Wire.endTransmission();                                            
}
void read_mpu_6050_data(){                                           
  Wire.beginTransmission(0x68);                                     
  Wire.write(0x3B);                                                  
  Wire.endTransmission();                                             
  Wire.requestFrom(0x68,14);                                       
 
  while(Wire.available() < 14);                                       
  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();     
                    
}

Credits

Anip Shah

Anip Shah

9 projects • 4 followers
Tech enthusiast and programmer who also happens to be a Biomedical Engineer.

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