Published June 3, 2023 © MIT

Tilt Detection Using MPU-6050 & Arduino Nano

MPU-6050 is an accelerometer & gyroscope sensor which interfaced with Arduino nano can detect tilt while using LEDs as visual indicators.

IntermediateFull instructions provided2 hours1,049

Tilt Detection Using MPU-6050 & Arduino Nano

Things used in this project

Hardware components

Arduino Nano R3

LED (generic)

Resistor 100 ohm

SparkFun Triple Axis Accelerometer and Gyro Breakout - MPU-6050

Software apps and online services

Arduino IDE

Story

The tilt detection system is a project that utilizes Arduino Nano, MPU-6050 accelerometer and gyroscope module, and 11 LEDs arranged in a column from right to left. The system is designed to detect the tilt angle of an object and display it using the LEDs as a visual indicator. This type of system can be used in various applications such as robotics, balancing platforms, and orientation sensing devices.

The MPU-6050 measures the acceleration and angular velocity along the X, Y, and Z axes. By analyzing this data, the tilt angle of the system can be determined. The Arduino Nano reads the sensor data from the MPU-6050 and processes it to calculate the tilt angle using mathematical algorithms or sensor fusion techniques such as complementary filter or Kalman filter.

Based on the calculated tilt angle, the Arduino Nano controls the LEDs to indicate the tilt level. For example, if the system is tilted to the right, the Arduino Nano lights up LEDs from the rightmost side to indicate the degree of tilt. As the tilt angle increases, more LEDs are lit accordingly, providing a visual representation of the tilt angle.

IMPORTAINT!!!

For the circuit, the positive pin (longer leg) of 11 different color LEDs is connected form pin 13 to pin 3 of Arduino nano serially. Negative pin (shorter leg) of the LEDs is connected to the GND in the Arduino nano via 100ohm resistor each. For MPU-6050, SDA----> A4

SCL----> A5

VCC----> 5v

GND----> GND pins of Arduino Nano.

Here is the link to project simulation:

https://wokwi.com/projects/366502975752053761

Wokwi simulation of the project

Here is the working model of the project.

Code

Tilt detection.

#include <Wire.h>

int gyro_x, gyro_y, gyro_z;
long gyro_x_cal, gyro_y_cal, gyro_z_cal;
boolean set_gyro_angles;
long acc_x, acc_y, acc_z, acc_total_vector;

float angle_roll_acc, angle_pitch_acc;
float angle_pitch, angle_roll;
int angle_pitch_buffer, angle_roll_buffer;
float angle_pitch_output, angle_roll_output;
long loop_timer;
int temp;


void setup() {

  pinMode(3,OUTPUT);
  pinMode(4,OUTPUT);
  pinMode(5,OUTPUT);
  pinMode(6,OUTPUT);
  pinMode(7,OUTPUT);
  pinMode(8,OUTPUT);
  pinMode(9,OUTPUT);
  pinMode(10,OUTPUT);
  pinMode(11,OUTPUT);
  pinMode(12,OUTPUT);
  pinMode(13,OUTPUT);

  Wire.begin();                                                   

  setup_mpu_6050_registers();                                    

  for (int cal_int = 0; cal_int < 1000 ; cal_int ++){              
    read_mpu_6050_data();                                            
    gyro_x_cal += gyro_x;                                            
    gyro_y_cal += gyro_y;                                          
    gyro_z_cal += gyro_z;                                          
   delay(3);                                                
  }
  gyro_x_cal /= 1000;                                                
  gyro_y_cal /= 1000;                                                
  gyro_z_cal /= 1000;                                                
  Serial.begin(115200);
  loop_timer = micros();                                        
}


void loop(){
  read_mpu_6050_data();  
  gyro_x -= gyro_x_cal;                                               
  gyro_y -= gyro_y_cal;                                               
  gyro_z -= gyro_z_cal;                                               
  angle_pitch += gyro_x * 0.0000611;                                  
  angle_roll += gyro_y * 0.0000611;                                
  angle_pitch += angle_roll * sin(gyro_z * 0.000001066);           
  angle_roll -= angle_pitch * sin(gyro_z * 0.000001066);           
  acc_total_vector = sqrt((acc_x*acc_x)+(acc_y*acc_y)+(acc_z*acc_z)); 
  angle_pitch_acc = asin((float)acc_y/acc_total_vector)* 57.296;     
  angle_roll_acc = asin((float)acc_x/acc_total_vector)* -57.296;      
  angle_pitch_acc -= 0.0;                                             
  angle_roll_acc -= 0.0;                                          

  if(set_gyro_angles){                                                
    angle_pitch = angle_pitch * 0.9996 + angle_pitch_acc * 0.0004;  
    angle_roll = angle_roll * 0.9996 + angle_roll_acc * 0.0004;       
  }
  else{                                                             
    angle_pitch = angle_pitch_acc;                                   
    angle_roll = angle_roll_acc;                                     
    set_gyro_angles = true;                                            
  }
  angle_pitch_output = angle_pitch_output * 0.9 + angle_pitch * 0.1;   
  angle_roll_output = angle_roll_output * 0.9 + angle_roll * 0.1;     
  Serial.print(" | Angle  = "); Serial.println(angle_pitch_output);
if(angle_pitch_output > 0 && angle_pitch_output < 5)
{
  digitalWrite(3,LOW);
  digitalWrite(4,LOW);
  digitalWrite(5,LOW);
  digitalWrite(6,LOW);
  digitalWrite(7,LOW);
  digitalWrite(8,HIGH);
  digitalWrite(9,LOW);
  digitalWrite(10,LOW);
  digitalWrite(11,LOW);
  digitalWrite(12,LOW);
  digitalWrite(13,LOW);

}
else if(angle_pitch_output >= 5 && angle_pitch_output <= 20)
  {
  digitalWrite(3,LOW);
  digitalWrite(4,LOW);
  digitalWrite(5,LOW);
  digitalWrite(6,LOW);
  digitalWrite(7,HIGH);
  digitalWrite(8,HIGH);
  digitalWrite(9,LOW);
  digitalWrite(10,LOW);
  digitalWrite(11,LOW);
  digitalWrite(12,LOW);
  digitalWrite(13,LOW);
  }
else if(angle_pitch_output >= 20 && angle_pitch_output <= 35)
  {
  digitalWrite(3,LOW);
  digitalWrite(4,LOW);
  digitalWrite(5,LOW);
  digitalWrite(6,HIGH);
  digitalWrite(7,HIGH);
  digitalWrite(8,HIGH);
  digitalWrite(9,LOW);
  digitalWrite(10,LOW);
  digitalWrite(11,LOW);
  digitalWrite(12,LOW);
  digitalWrite(13,LOW);
  }
else if(angle_pitch_output >= 35 && angle_pitch_output <= 50)
  {
  digitalWrite(3,LOW);
  digitalWrite(4,LOW);
  digitalWrite(5,HIGH);
  digitalWrite(6,HIGH);
  digitalWrite(7,HIGH);
  digitalWrite(8,HIGH);
  digitalWrite(9,LOW);
  digitalWrite(10,LOW);
  digitalWrite(11,LOW);
  digitalWrite(12,LOW);
  digitalWrite(13,LOW);
  }
else if(angle_pitch_output >= 50 && angle_pitch_output <= 65)
  {
  digitalWrite(3,LOW);
  digitalWrite(4,HIGH);
  digitalWrite(5,HIGH);
  digitalWrite(6,HIGH);
  digitalWrite(7,HIGH);
  digitalWrite(8,HIGH);
  digitalWrite(9,LOW);
  digitalWrite(10,LOW);
  digitalWrite(11,LOW);
  digitalWrite(12,LOW);
  digitalWrite(13,LOW);
  }
else if(angle_pitch_output >= 65 && angle_pitch_output <= 90)
  {
  digitalWrite(3,HIGH);
  digitalWrite(4,HIGH);
  digitalWrite(5,HIGH);
  digitalWrite(6,HIGH);
  digitalWrite(7,HIGH);
  digitalWrite(8,HIGH);
  digitalWrite(9,LOW);
  digitalWrite(10,LOW);
  digitalWrite(11,LOW);
  digitalWrite(12,LOW);
  digitalWrite(13,LOW);
  }

  else if(angle_pitch_output <= 0 && angle_pitch_output >= -5)
  {
  digitalWrite(3,LOW);
  digitalWrite(4,LOW);
  digitalWrite(5,LOW);
  digitalWrite(6,LOW);
  digitalWrite(7,LOW);
  digitalWrite(8,HIGH);
  digitalWrite(9,LOW);
  digitalWrite(10,LOW);
  digitalWrite(11,LOW);
  digitalWrite(12,LOW);
  digitalWrite(13,LOW);
  }

else if(angle_pitch_output <= -5 && angle_pitch_output >= -20)
  {
  digitalWrite(3,LOW);
  digitalWrite(4,LOW);
  digitalWrite(5,LOW);
  digitalWrite(6,LOW);
  digitalWrite(7,LOW);
  digitalWrite(8,HIGH);
  digitalWrite(9,HIGH);
  digitalWrite(10,LOW);
  digitalWrite(11,LOW);
  digitalWrite(12,LOW);
  digitalWrite(13,LOW);
  }
else if(angle_pitch_output <= -20 && angle_pitch_output >= -35)
  {
  digitalWrite(3,LOW);
  digitalWrite(4,LOW);
  digitalWrite(5,LOW);
  digitalWrite(6,LOW);
  digitalWrite(7,LOW);
  digitalWrite(8,HIGH);
  digitalWrite(9,HIGH);
  digitalWrite(10,HIGH);
  digitalWrite(11,LOW);
  digitalWrite(12,LOW);
  digitalWrite(13,LOW);
  }
else if(angle_pitch_output <= -35 && angle_pitch_output >= -50)
  {
  digitalWrite(3,LOW);
  digitalWrite(4,LOW);
  digitalWrite(5,LOW);
  digitalWrite(6,LOW);
  digitalWrite(7,LOW);
  digitalWrite(8,HIGH);
  digitalWrite(9,HIGH);
  digitalWrite(10,HIGH);
  digitalWrite(11,HIGH);
  digitalWrite(12,LOW);
  digitalWrite(13,LOW);
  }
else if(angle_pitch_output <= -50 && angle_pitch_output >= -65)
  {
  digitalWrite(3,LOW);
  digitalWrite(4,LOW);
  digitalWrite(5,LOW);
  digitalWrite(6,LOW);
  digitalWrite(7,LOW);
  digitalWrite(8,HIGH);
  digitalWrite(9,HIGH);
  digitalWrite(10,HIGH);
  digitalWrite(11,HIGH);
  digitalWrite(12,HIGH);
  digitalWrite(13,LOW);
  }
else if(angle_pitch_output <= -65 && angle_pitch_output >= -90)
  {
  digitalWrite(3,LOW);
  digitalWrite(4,LOW);
  digitalWrite(5,LOW);
  digitalWrite(6,LOW);
  digitalWrite(7,LOW);
  digitalWrite(8,HIGH);
  digitalWrite(9,HIGH);
  digitalWrite(10,HIGH);
  digitalWrite(11,HIGH);
  digitalWrite(12,HIGH);
  digitalWrite(13,HIGH);
  }

  while(micros() - loop_timer < 4000);                                
 loop_timer = micros();

}

void setup_mpu_6050_registers(){
  Wire.beginTransmission(0x68);                                      
  Wire.write(0x6B);                                               
  Wire.write(0x00);                                                 
  Wire.endTransmission();                                            
  Wire.beginTransmission(0x68);                                  
  Wire.write(0x1C);                                           
  Wire.write(0x10);                                                 
  Wire.endTransmission();                                            
  Wire.beginTransmission(0x68);                                     
  Wire.write(0x1B);                                                
  Wire.write(0x08);                                               
  Wire.endTransmission();                                            
}
void read_mpu_6050_data(){                                           
  Wire.beginTransmission(0x68);                                     
  Wire.write(0x3B);                                                  
  Wire.endTransmission();                                             
  Wire.requestFrom(0x68,14);                                       
 
  while(Wire.available() < 14);                                       
  acc_x = Wire.read()<<8|Wire.read();                                 
  acc_y = Wire.read()<<8|Wire.read();                                 
  acc_z = Wire.read()<<8|Wire.read();                                 
  temp = Wire.read()<<8|Wire.read();                                  
  gyro_x = Wire.read()<<8|Wire.read();                                
  gyro_y = Wire.read()<<8|Wire.read();                                
  gyro_z = Wire.read()<<8|Wire.read();     
                    
}