/*
2EKSEN HAREKET İZLEYEN ROBOT
*/
#include <Servo.h>
#include<Wire.h>
const int MPU=0x68; // I2C address of the MPU-6050
int AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;
Servo myservo1; // create servo object to control a servo
Servo myservo2;
int potpin1 = 0; // analog pin used to connect the potentiometer
int potpin2=1;
int val1; // variable to read the value from the analog pin
int val2;
void setup()
{
Wire.begin(); //seri haberleşme
Wire.beginTransmission(MPU);
Wire.write(0x6B); // PWR_MGMT_1 register
Wire.write(0); // set to zero (wakes up the MPU-6050)
Wire.endTransmission(true);
Serial.begin(9600);
myservo1.attach(9);
myservo2.attach(10); // attaches the servo on pin 9 to the servo object
}
void loop()
{
Wire.beginTransmission(MPU);
Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H)
Wire.endTransmission(false);
Wire.requestFrom(MPU,14,true); // request a total of 14 registers
AcX=Wire.read()<<8|Wire.read(); // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)
AcY=Wire.read()<<8|Wire.read(); // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
AcZ=Wire.read()<<8|Wire.read(); // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)
Tmp=Wire.read()<<8|Wire.read(); // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L)
GyX=Wire.read()<<8|Wire.read(); // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
GyY=Wire.read()<<8|Wire.read(); // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
GyZ=Wire.read()<<8|Wire.read(); // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)
Serial.print("AcX = "); Serial.print(AcX);
Serial.print(" | AcY = "); Serial.print(AcY);
Serial.print(" | AcZ = "); Serial.print(AcZ);
Serial.print(" | Tmp = "); Serial.print(Tmp/340.00+36.53); //equation for temperature in degrees C from datasheet
Serial.print(" | GyX = "); Serial.print(GyX);
Serial.print(" | GyY = "); Serial.print(GyY);
Serial.print(" | GyZ = "); Serial.println(GyZ);
val1 =AcX; // reads the value of the potentiometer (value between 0 and 1023)
val1 = map(val1, -16000, 16000, 180, 0); // scale it to use it with the servo (value between 0 and 180)
val2 = AcY; // reads the value of the potentiometer (value between 0 and 1023)
val2 = map(val2, -16000, 16000, 0, 180);
myservo1.write(val1); // sets the servo position according to the scaled value
myservo2.write(val2);
delay(100); // waits for the servo to get there
}