Tanishq Jaiswal
Published

GyroCube

Mixing and making colors never been so easy.

IntermediateFull instructions provided3 hours4,492
GyroCube

Things used in this project

Hardware components

GY-521 MPU-6050 3 Axis Gyroscope + Accelerometer Module For Arduino
×1
Arduino Nano R3
Arduino Nano R3
×1
Li-Ion Battery 1000mAh
Li-Ion Battery 1000mAh
×1
Jumper wires (generic)
Jumper wires (generic)
×1
RGB LED
×1
Resistor 221 ohm
Resistor 221 ohm
×1
General Purpose Transistor NPN
General Purpose Transistor NPN
×3
Female/Female Jumper Wires
Female/Female Jumper Wires
×1
Universal Charger
×1

Story

Read more

Custom parts and enclosures

Driver circuit

Schematics

Connection of arduino to MPU6050

common anode RGB LED

Code

GyroCube

C/C++
This is the final program for Gyrocube
//This program is the part of the project GyroCube in which PWM output
//of 3 pins varies as change in the three angles X,Y, and Z respectively. 
//Enter the offset values of your GY521 in the program, read the comments
//for reference.
//This program is free to use, distribute, modify and copy but not comes with any
//kind of warranty
//Open the serial monitor to see the orientation of the sensor.
//Email- tanishq.jaiswal99@gmail.com
//ENJOY :)





// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
// for both classes must be in the include path of your project
#include "I2Cdev.h"

#include "MPU6050_6Axis_MotionApps20.h"
//#include "MPU6050.h" // not necessary if using MotionApps include file

// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
// is used in I2Cdev.h
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
    #include "Wire.h"
#endif

MPU6050 mpu;
//MPU6050 mpu(0x69); // <-- use for AD0 high

#define OUTPUT_READABLE_YAWPITCHROLL
#define INTERRUPT_PIN 2  // use pin 2 on Arduino Uno & most boards

bool blinkState = false;

// 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




// ================================================================
// ===               INTERRUPT DETECTION ROUTINE                ===
// ================================================================

volatile bool mpuInterrupt = false;     // indicates whether MPU interrupt pin has gone high
void dmpDataReady() {
    mpuInterrupt = true;
}



// ================================================================
// ===                      INITIAL SETUP                       ===
// ================================================================
int LedPinx=9;
int LedPiny=10;
int LedPinz=11;

int pwmx;
int pwmy;
int pwmz;
void setup() {
  pinMode(LedPinx, OUTPUT);
  pinMode(LedPiny, OUTPUT);
  pinMode(LedPinz, OUTPUT);

    // join I2C bus (I2Cdev library doesn't do this automatically)
    #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
        Wire.begin();
        Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
    #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
        Fastwire::setup(400, true);
    #endif

    // initialize serial communication
    Serial.begin(38400);
    while (!Serial); // wait for Leonardo enumeration, others continue immediately

    // NOTE: 8MHz or slower host processors, like the Teensy @ 3.3v or Ardunio
    // Pro Mini running at 3.3v, cannot handle this baud rate reliably due to
    // the baud timing being too misaligned with processor ticks. You must use
    // 38400 or slower in these cases, or use some kind of external separate
    // crystal solution for the UART timer.

    // initialize device
    mpu.initialize();
    pinMode(INTERRUPT_PIN, INPUT);

    // 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(35);      // enter here your x gyro offset
    mpu.setYGyroOffset(-32);      // enter here your y gyro offset
    mpu.setZGyroOffset(37);      // enter here your z gyro offset
    

    // make sure it worked (returns 0 if so)
    if (devStatus == 0) {
        // turn on the DMP, now that it's ready
        mpu.setDMPEnabled(true);

        // enable Arduino interrupt detection
        attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);
        mpuIntStatus = mpu.getIntStatus();

        // set our DMP Ready flag so the main loop() function knows it's okay to use it
        dmpReady = true;

        // get expected DMP packet size for later comparison
        packetSize = mpu.dmpGetFIFOPacketSize();
    } 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(")"));
    }

    // configure LED for output
    pinMode(LedPinx, OUTPUT);
    pinMode(LedPiny, OUTPUT);
    pinMode(LedPinz, OUTPUT);
}



// ================================================================
// ===                    MAIN PROGRAM LOOP                     ===
// ================================================================

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) {
        // other program behavior stuff here
        // .
        // .
        // .
        // if you are really paranoid you can frequently test in between other
        // stuff to see if mpuInterrupt is true, and if so, "break;" from the
        // while() loop to immediately process the MPU data
        // .
        // .
        // .
    }

    // 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;

       

        #ifdef OUTPUT_READABLE_YAWPITCHROLL
            // display Euler angles in degrees
            mpu.dmpGetQuaternion(&q, fifoBuffer);
            mpu.dmpGetGravity(&gravity, &q);
            mpu.dmpGetYawPitchRoll(ypr, &q, &gravity); 
                        pwmx= ypr[0] * 180/M_PI;
                        pwmy= ypr[1] * 180/M_PI;
                        pwmz= ypr[2] * 180/M_PI;
                        
            Serial.print("ypr\t");
            Serial.print(pwmx);
            Serial.print("\t");
            Serial.print(pwmy);
            Serial.print("\t");
            Serial.println(pwmz);
           if(pwmx<0){
              
            // conversion and output of calculated angles
            pwmx=pwmx+360;}
              analogWrite(LedPinx,pwmx*0.70833333);
            if(pwmy<0){
              
            
            pwmy=pwmy+180;}
              analogWrite(LedPiny,pwmy*1.41666667);
              if(pwmz<0){
              
            
            pwmz=pwmz+180;}
              analogWrite(LedPinz,pwmz*1.41666667);
              
            
             
        #endif

        
    }
}

Credits

Tanishq Jaiswal

Tanishq Jaiswal

21 projects • 36 followers
I'm from India and love making projects on electronics and especially with Arduino.

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