Picture of Angle measurement using gyro, accelerometer and Arduino
The device is a rough prototype of what will eventually become a self balance robot, this is the second part of the hole thing (read accelerometer and control a motor to self balance). The first part with only the gyro can be found here.
On this instructable we will measure the angle using both gyro and accelerometer, and using a technique to merge both sensor to get a smooth signal. The technique is called "complementary filter".


Step 1: What we gonna need:

Picture of What we gonna need:
Some part can be replace, and some modification at the code have to be made to fit your hardware.
On this project we will use:
- Breadboard
- Microcontroller, I used the Arduinoboard
- Wire
- Jumper Wires
- Gyroscope XV-8100
- Nunchuck Wii (for the accelerometer)
- Nunchuck Wii adapter for Arduino

Hello, First of all great work and thank you very much for sharing the knowledge.

I need to know a couple of things.

1. Are the angle measurements accurate. Does a 45 degree change show 45 degrees approxiamtely.

2. Up to what value of angle the device measure ? Is it capable of handling more than 90 degree angles

mba711 months ago

I made an equivalent tool in python that print real time data from ADXL345 accelerometer.


may be it will be helpful for someone

is this possible to use only accelerometer for angle measurement.

otaviousp (author)  saurabh.more.921671 year ago

It is possible to use only the accelerometer but the result may not to be so good.

It is recommended use both sensors.

ihelmi1 year ago
Nunchuck controller are use for what?? How can I use this, to combine with my pyranometer tracker?
otaviousp (author)  ihelmi1 year ago
Nunchuck controller has an internal integrated accelerometer.

You can use it for a variety of things, depend what are you doing or your need.
ontreus3 years ago
Desculpe-me, é que estou construindo um bicoptero e estou com um problema no equlibrio de todo o sistema, estudando seu codigo: angle_for_instructable.pde
Não vi nenhuma linha para a execução dos motores que vc usou no seu robô.
estes comandos estão em um outro arquivo a parte?
Obrigado pela atenção.
jgeidl4 years ago
The code link does not link to a .rar but to a .tmp file. Is the code link available somewhere else?


vivekchopra4 years ago
i need to build a human body sensor using an accelerometer and a gyroscope........and i am gonna use labVIEW as software for analysis.....can you please help me with the microcontroller part........should i go with lpc2138???

Is there any information about how that formula is derived, because I hate using things i dont fully understand
otaviousp (author)  skeleton11024 years ago
Read this instructable first, there is a plenty of information.


Any doubt feel free to ask.
I mean the one to calculate the angle using accelerometers.
paolo.mosna4 years ago
Sorry If i bother you but where can I buy the gyroscope device you used in your realization?
otaviousp (author)  paolo.mosna4 years ago
I bought this gyro at eBay. But is no longer available.
Accentrix5 years ago
Thanks for the explanation. I was waiting for someone to do this.
WyoJustin5 years ago
Thanks, I'll need this for my next project.

otaviousp (author)  WyoJustin5 years ago
Nice, xD
gellis30005 years ago
When I try to download the .rar, all I get is a .tmp file. I have tried 3 different browsers, how does this work?
otaviousp (author)  gellis30005 years ago
Try just renaming from .tmp to .rar