I will measure angle with an Arduino. We need some cables, an Arduino UNO and GY-521(MPU-6050) for measure angle.

Step 1: Connecting MPU-6050 to Arduino UNO

You need some male-female cables, an Arduino UNO and GY-521(MPU-6050) for measure angle. You have to connect MPU-6050 to Arduino UNO like in the picture. So,

  • VCC to 5V(MPU-6050 works with 3.3V but GY-521 increases it to 5V.),
  • GND to GND,
  • SCL to A5,
  • SDA to A4,
  • ADO to GND,
  • INT to digital pin 2.

Step 2: Code

Here is code. It uses I2C. I took some parts of code from internet.(I2C part)

//Written by Ahmet Burkay KIRNIK
//TR_CapaFenLisesi //Measure Angle with a MPU-6050(GY-521)


const int MPU_addr=0x68; int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;

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); AcX=Wire.read()<<8|Wire.read(); AcY=Wire.read()<<8|Wire.read(); AcZ=Wire.read()<<8|Wire.read(); int xAng = map(AcX,minVal,maxVal,-90,90); int yAng = map(AcY,minVal,maxVal,-90,90); int zAng = map(AcZ,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("AngleX= "); Serial.println(x);

Serial.print("AngleY= "); Serial.println(y);

Serial.print("AngleZ= "); Serial.println(z); Serial.println("-----------------------------------------"); delay(400); }

Step 3: Done!

It has finished! If it doesn't work, please leave a comment. By the way, my English is not so good, sorry for my bad English.

Ahmet Burkay KIRNIK


<p>I have a problem the sensor only measures 255 and doesnt change ? </p>
very good<br>
<p>Hello, where from do you take the minVal and maxVal ?</p>
<p>I wanted to test my MPU-6050. Thanks!</p>
<p>Thnx Mate! Great project to get me started with the MPU-6050(GY-521), worked perfect first time!</p><p>thnx</p><p>billd</p><p>PS. Your English is great, no need to apologies!</p>
<p>HI, i got an error in compiling for your code, what should i do now? thanks</p>
<p>at the line #include</p><p>replace with # include&lt;wire.h&gt;</p>
<p>Cool project.I need to get some of these sensors and try them out.</p>

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