MEASURING INCLINATION ANGLE (ARDUION+MPU6050)

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);

}