Accelerometer Sensor with Arduino

 

        

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                                Arduino Code

/*

  code started

MPU-6050 interface with arduino

  #define SDA= A4;

  #define SCL= A5;

  code created by technical ideas yt

  https://youtube.com/c/TechnicalidEas07

  #define led1 = 2;

  #defineled2 = 3;

  #define led3 = 4;

  #define led4 = 5;

 */

#include "Wire.h" // This library allows you to communicate with I2C devices.

const int MPU_ADDR=0x68; // I2C address of the MPU-6050. If AD0 pin is set to HIGH, the I2C address will be 0x69.

int16_t accelerometer_x, accelerometer_y, accelerometer_z; // variables for accelerometer raw data

int16_t gyro_x, gyro_y, gyro_z; // variables for gyro raw data

int16_t temperature; // variables for temperature data

#define LED_LB 2 // LED left bottom

#define LED_RB 3 // LED right bottom

#define LED_RT 4 // LED right top

#define LED_LT 5 // LED left top

char tmp_str[7]; // temporary variable used in convert function

char* convert_int16_to_str(int16_t i) { // converts int16 to string. Moreover, resulting strings will have the same length in the debug monitor.

  sprintf(tmp_str, "%6d", i);

  return tmp_str;

 

}

 

 

void setup() {

 

  Serial.begin(9600);

  pinMode(LED_LB, OUTPUT);

  pinMode(LED_RB, OUTPUT);

  pinMode(LED_RT, OUTPUT);

  pinMode(LED_LT, OUTPUT);

  digitalWrite(LED_LB, LOW);

  digitalWrite(LED_RB, LOW);

  digitalWrite(LED_RT, LOW);

  digitalWrite(LED_LT, LOW);

 

  Wire.begin();

 

  Wire.beginTransmission(MPU_ADDR); // Begins a transmission to the I2C slave (GY-521 board)

  Wire.write(0x6B); // PWR_MGMT_1 register

  Wire.write(0); // set to zero (wakes up the MPU-6050)

  Wire.endTransmission(true);

}

 

void loop() {

 

  Wire.beginTransmission(MPU_ADDR);

 

  Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H) [MPU-6000 and MPU-6050 Register Map and Descriptions Revision 4.2, p.40]

 

  Wire.endTransmission(false); // the parameter indicates that the Arduino will send a restart. As a result, the connection is kept active.

 

  Wire.requestFrom(MPU_ADDR, 7*2, true); // request a total of 7*2=14 registers

  // "Wire.read()<<8 | Wire.read();" means two registers are read and stored in the same variable

 

  accelerometer_x = Wire.read()<<8 | Wire.read(); // reading registers: 0x3B (ACCEL_XOUT_H) and 0x3C (ACCEL_XOUT_L)

 

  accelerometer_y = Wire.read()<<8 | Wire.read(); // reading registers: 0x3D (ACCEL_YOUT_H) and 0x3E (ACCEL_YOUT_L)

 

  accelerometer_z = Wire.read()<<8 | Wire.read(); // reading registers: 0x3F (ACCEL_ZOUT_H) and 0x40 (ACCEL_ZOUT_L)

 

  temperature = Wire.read()<<8 | Wire.read(); // reading registers: 0x41 (TEMP_OUT_H) and 0x42 (TEMP_OUT_L)

 

  gyro_x = Wire.read()<<8 | Wire.read(); // reading registers: 0x43 (GYRO_XOUT_H) and 0x44 (GYRO_XOUT_L)

 

  gyro_y = Wire.read()<<8 | Wire.read(); // reading registers: 0x45 (GYRO_YOUT_H) and 0x46 (GYRO_YOUT_L)

 

  gyro_z = Wire.read()<<8 | Wire.read(); // reading registers: 0x47 (GYRO_ZOUT_H) and 0x48 (GYRO_ZOUT_L)

  // print out data

 

  Serial.print("aX = "); Serial.print(convert_int16_to_str(accelerometer_x));

 

  Serial.print(" | aY = "); Serial.print(convert_int16_to_str(accelerometer_y));

 

  Serial.print(" | aZ = "); Serial.print(convert_int16_to_str(accelerometer_z));

 

  // the following equation was taken from the documentation [MPU-6000/MPU-6050 Register Map and Description, p.30]

 

  Serial.print(" | tmp = "); Serial.print(temperature/340.00+36.53);

 

  Serial.print(" | gX = "); Serial.print(convert_int16_to_str(gyro_x));

 

  Serial.print(" | gY = "); Serial.print(convert_int16_to_str(gyro_y));

 

  Serial.print(" | gZ = "); Serial.print(convert_int16_to_str(gyro_z));

  Serial.println();

  if (accelerometer_x < 1000 && accelerometer_y < -8000) {

 

    digitalWrite(LED_LB, HIGH);

    digitalWrite(LED_RB, HIGH);

    digitalWrite(LED_RT, LOW);

    digitalWrite(LED_LT, LOW);

  } else if (accelerometer_x < 1000 && accelerometer_y > 8000) {

    digitalWrite(LED_LB, LOW);

    digitalWrite(LED_RB, LOW);

    digitalWrite(LED_RT, HIGH);

    digitalWrite(LED_LT, HIGH);

 

  } else if (accelerometer_x > 8000 && accelerometer_y < 1000) {

 

    digitalWrite(LED_LB, LOW);

    digitalWrite(LED_RB, HIGH);

    digitalWrite(LED_RT, HIGH);

    digitalWrite(LED_LT, LOW);

 

  } else if (accelerometer_x < -8000 && accelerometer_y < 1000) {

    digitalWrite(LED_LB, HIGH);

    digitalWrite(LED_RB, LOW);

    digitalWrite(LED_RT, LOW);

    digitalWrite(LED_LT, HIGH);

 

  } else {

    digitalWrite(LED_LB, LOW);

    digitalWrite(LED_RB, LOW);

    digitalWrite(LED_RT, LOW);

    digitalWrite(LED_LT, LOW);

 

  }

  // delay

 

  delay(10);

 

}