Its a project to measure the angle of inclination in X,Y and Z axis.Here i use MPU6050 gyroscope for measurement.
Working of accelerometer
Working of Gyroscope
Circuit
vcc -- +5v
Gnd-- Gnd
SCL-- A5
SDA--A4
Program
#include<Wire.h>
const int MPU_addr=0x68;
int16_t axis_X,axis_Y,axis_Z;
int minVal=265;
int maxVal=402;
double x;
double y;
double z;
void setup(){
Wire.begin();
Wire.beginTransmission(MPU_addr);
Wire.write(0x6B);
Wire.write(0);
Wire.endTransmission(true);
Serial.begin(9600);
}
void loop(){
Wire.beginTransmission(MPU_addr);
Wire.write(0x3B);
Wire.endTransmission(false);
Wire.requestFrom(MPU_addr,14,true);
axis_X=Wire.read()<<8|Wire.read();
axis_Y=Wire.read()<<8|Wire.read();
axis_Z=Wire.read()<<8|Wire.read();
int xAng = map(axis_X,minVal,maxVal,-90,90);
int yAng = map(axis_Y,minVal,maxVal,-90,90);
int zAng = map(axis_Z,minVal,maxVal,-90,90);
x= RAD_TO_DEG * (atan2(-yAng, -zAng)+PI);
y= RAD_TO_DEG * (atan2(-xAng, -zAng)+PI);
z= RAD_TO_DEG * (atan2(-yAng, -xAng)+PI);
Serial.print("Angle of inclination in X axis = ");
Serial.print(x);
Serial.println((char)176);
/* Serial.print("Angle of inclination in Y axis= ");
Serial.print(y);
Serial.println((char)176);
Serial.print("Angle of inclination in Z axis= ");
Serial.print(z);
Serial.println((char)176);*/
Serial.println("-------------------------------------------");
delay(1000);
}
