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Gyro controller


Gyro controller Transmitter code
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Download the .zip file below. Extract it and open the code in Arduino IDE. Make the connections as in the schematic, select the COM and uplaod the code to the transmitter. Now it will send the angle data for 2 analog channels. "


Downlaod transmitter code (last update 29/09/2018)


gyro arduino radio controller






Or copy the code from below!



/* YouTube channel. http://www.youtube.com/c/electronoobs * 
 * This is an example where get the data of the MPU6050
 * and send it using the HC12 radio module. 
 * Schematic: https://www.electronoobs.com/eng_arduino_tut44_sch1.php
 * Tutorial: https://www.electronoobs.com/eng_arduino_tut44.php
 */
//Libraries
#include <Wire.h>
#include <SoftwareSerial.h>
SoftwareSerial HC12(11, 10);              // D11 is HC-12 TX Pin, D10 is HC-12 RX Pin

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

//Variables for the Gyro data
float elapsedTime, time, timePrev;        //Variables for time control
int gyro_error=0;                         //We use this variable to only calculate once the gyro data error
float Gyr_rawX, Gyr_rawY, Gyr_rawZ;     //Here we store the raw data read 
float Gyro_angle_x, Gyro_angle_y;         //Here we store the angle value obtained with Gyro data
float Gyro_raw_error_x, Gyro_raw_error_y; //Here we store the initial gyro data error

//Variables for acceleration data
int acc_error=0;                         //We use this variable to only calculate once the Acc data error
float rad_to_deg = 180/3.141592654;      //This value is for pasing from radians to degrees values
float Acc_rawX, Acc_rawY, Acc_rawZ;    //Here we store the raw data read 
float Acc_angle_x, Acc_angle_y;          //Here we store the angle value obtained with Acc data
float Acc_angle_error_x, Acc_angle_error_y; //Here we store the initial Acc data error
//Total angle data
float Total_angle_x, Total_angle_y;
//Data to send
int x_send, y_send;

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

void setup() {
  Serial.begin(9600);                     //Start serial com in order to print valeus on monitor
  HC12.begin(9600);                       //Start the HC12 serial communication at 9600 bauds. Change bauds if needed
  begin_MPU6050();                        //Call this function and start the MPU6050 module  
  time = millis();                        //Start counting time in milliseconds
  calculate_IMU_error();                  //Call this function and het the acc and gyro error at the beginning
}//end of setup void


//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

void loop() {
  timePrev = time;                            // the previous time is stored before the actual time read
  time = millis();                            // actual time read
  elapsedTime = (time - timePrev) / 1000;     //divide by 1000 in order to obtain seconds

  //////////////////////////////////////Gyro read/////////////////////////////////////

  Wire.beginTransmission(0x68);             //begin, Send the slave adress (in this case 68) 
  Wire.write(0x43);                          //First adress of the Gyro data
  Wire.endTransmission(false);
  Wire.requestFrom(0x68,4,true);             //We ask for just 4 registers        
  Gyr_rawX=Wire.read()<<8|Wire.read();      //Once again we shif and sum
  Gyr_rawY=Wire.read()<<8|Wire.read();
  /*Now in order to obtain the gyro data in degrees/seconds we have to divide first
  the raw value by 32.8 because that's the value that the datasheet gives us for a 1000dps range*/
  /*---X---*/
  Gyr_rawX = (Gyr_rawX/32.8) - Gyro_raw_error_x; 
  /*---Y---*/
  Gyr_rawY = (Gyr_rawY/32.8) - Gyro_raw_error_y;    
  /*Now we integrate the raw value in degrees per seconds in order to obtain the angle
  * If you multiply degrees/seconds by seconds you obtain degrees */
  /*---X---*/
  Gyro_angle_x = Gyr_rawX*elapsedTime;
  /*---X---*/
  Gyro_angle_y = Gyr_rawY*elapsedTime;
        
  
  //////////////////////////////////////Acc read/////////////////////////////////////
  
  Wire.beginTransmission(0x68);     //begin, Send the slave adress (in this case 68) 
  Wire.write(0x3B);                 //Ask for the 0x3B register- correspond to AcX
  Wire.endTransmission(false);      //keep the transmission and next
  Wire.requestFrom(0x68,6,true);    //We ask for next 6 registers starting withj the 3B  
  /*We have asked for the 0x3B register. The IMU will send a brust of register.
  * The amount of register to read is specify in the requestFrom function.
  * In this case we request 6 registers. Each value of acceleration is made out of
  * two 8bits registers, low values and high values. For that we request the 6 of them  
  * and just make then sum of each pair. For that we shift to the left the high values 
  * register (<<) and make an or (|) operation to add the low values.
  If we read the datasheet, for a range of+-8g, we have to divide the raw values by 4096*/    
  Acc_rawX=(Wire.read()<<8|Wire.read())/4096.0 ; //each value needs two registres
  Acc_rawY=(Wire.read()<<8|Wire.read())/4096.0 ;
  Acc_rawZ=(Wire.read()<<8|Wire.read())/4096.0 ; 
  /*Now in order to obtain the Acc angles we use euler formula with acceleration values
  after that we substract the error value found before*/  
  /*---X---*/
  Acc_angle_x = (atan((Acc_rawY)/sqrt(pow((Acc_rawX),2) + pow((Acc_rawZ),2)))*rad_to_deg) - Acc_angle_error_x;
  /*---Y---*/
  Acc_angle_y = (atan(-1*(Acc_rawX)/sqrt(pow((Acc_rawY),2) + pow((Acc_rawZ),2)))*rad_to_deg) - Acc_angle_error_y;    

  //////////////////////////////////////Total angle and filter/////////////////////////////////////
  /*---X axis angle---*/
  Total_angle_x = 0.98 *(Total_angle_x + Gyro_angle_x) + 0.02*Acc_angle_x;
  /*---Y axis angle---*/
  Total_angle_y = 0.98 *(Total_angle_y + Gyro_angle_y) + 0.02*Acc_angle_y;

   
   //Uncoment the next lines if you want to print the values on the serial monitor  
   /*Serial.print("Xº: ");
   Serial.print(Total_angle_x);
   Serial.print("   |   ");
   Serial.print("Yº: ");
   Serial.print(Total_angle_y);
   Serial.println(" ");*/
   
  x_send = -Total_angle_x;  //pass from flaot to int in order to send the values, also invert X angle
  y_send = Total_angle_y;   //pass from flaot to int in order to send the values

  HC12.print(x_send);HC12.write("X"); //Send the x angle value and then the "X" character
  HC12.print(y_send);HC12.write("Y"); //Send the y angle value and then the "Y" character
  delay(50); //Add a delay of 50. This might affect the transmission 
}//End of void loop



//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////



void begin_MPU6050()
{
  Wire.begin();                           //begin the wire comunication    
  Wire.beginTransmission(0x68);           //begin, Send the slave adress (in this case 68)              
  Wire.write(0x6B);                       //make the reset (place a 0 into the 6B register)
  Wire.write(0x00);
  Wire.endTransmission(true);             //end the transmission
  //Gyro config
  Wire.beginTransmission(0x68);           //begin, Send the slave adress (in this case 68) 
  Wire.write(0x1B);                       //We want to write to the GYRO_CONFIG register (1B hex)
  Wire.write(0x10);                       //Set the register bits as 00010000 (1000dps full scale)
  Wire.endTransmission(true);             //End the transmission with the gyro
  //Acc config
  Wire.beginTransmission(0x68);           //Start communication with the address found during search.
  Wire.write(0x1C);                       //We want to write to the ACCEL_CONFIG register
  Wire.write(0x10);                       //Set the register bits as 00010000 (+/- 8g full scale range)
  Wire.endTransmission(true); 
}


void calculate_IMU_error()
{
  /*Here we calculate the acc data error before we start the loop
 * I make the mean of 200 values, that should be enough*/
  if(acc_error==0)
  {
    for(int a=0; a<200; a++)
    {
      Wire.beginTransmission(0x68);
      Wire.write(0x3B);                       //Ask for the 0x3B register- correspond to AcX
      Wire.endTransmission(false);
      Wire.requestFrom(0x68,6,true); 
      
      Acc_rawX=(Wire.read()<<8|Wire.read())/4096.0 ; //each value needs two registres
      Acc_rawY=(Wire.read()<<8|Wire.read())/4096.0 ;
      Acc_rawZ=(Wire.read()<<8|Wire.read())/4096.0 ;

      
      /*---X---*/
      Acc_angle_error_x = Acc_angle_error_x + ((atan((Acc_rawY)/sqrt(pow((Acc_rawX),2) + pow((Acc_rawZ),2)))*rad_to_deg));
      /*---Y---*/
      Acc_angle_error_y = Acc_angle_error_y + ((atan(-1*(Acc_rawX)/sqrt(pow((Acc_rawY),2) + pow((Acc_rawZ),2)))*rad_to_deg)); 
      
      if(a==199)
      {
        Acc_angle_error_x = Acc_angle_error_x/200;
        Acc_angle_error_y = Acc_angle_error_y/200;
        acc_error=1;
      }
    }
  }//end of acc error calculation   


/*Here we calculate the gyro data error before we start the loop
 * I make the mean of 200 values, that should be enough*/
  if(gyro_error==0)
  {
    for(int i=0; i<200; i++)
    {
      Wire.beginTransmission(0x68);            //begin, Send the slave adress (in this case 68) 
      Wire.write(0x43);                        //First adress of the Gyro data
      Wire.endTransmission(false);
      Wire.requestFrom(0x68,4,true);           //We ask for just 4 registers 
         
      Gyr_rawX=Wire.read()<<8|Wire.read();     //Once again we shif and sum
      Gyr_rawY=Wire.read()<<8|Wire.read();
   
      /*---X---*/
      Gyro_raw_error_x = Gyro_raw_error_x + (Gyr_rawX/32.8); 
      /*---Y---*/
      Gyro_raw_error_y = Gyro_raw_error_y + (Gyr_rawY/32.8);
      if(i==199)
      {
        Gyro_raw_error_x = Gyro_raw_error_x/200;
        Gyro_raw_error_y = Gyro_raw_error_y/200;
        gyro_error=1;
      }
    }
  }//end of gyro error calculation   
}




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