View source for Team4 gyro and acceleration sensor

== MPU-6050 gyroscope and acceleration sensor ==
The MPU-6050 is a MEMS-based sensorchip for motion tracking built into the GY-521 breakoutboard<br/>Thanks to its 3-axis gyroscope and 3-axis acceleration sensors, it can recognize 6 DOF (degrees of freedom) simultaneously.<br/>
That means it can measure its orientation/rotation  and acceleration in a 3D space ([https://www.sublightdynamics.com/Images/Cartesional%20Diagram%20485.png 6 DOF]). 
In addition to that, the environment temperature can be measured as well.<br/>
[https://www.berrybase.de/media/image/12/b2/a3/ID_51863_orig.jpg GY521 - MPU 6050]
=== Core Features ===
    * Chip: MPU-6050 (InvenSense)
    * 16-Bit AD-Converter
    * Acceleration sensor range: ±2, ±4, ±8, ±16g
    * Gyro range: ±250°, 500°, 1000°, 2000°/s
    * Voltage range: 3,3V - 5V 

== Technical Specifications ==
The module has its own I²C bus, which allows for an easy connection with microcontrollers such as the ESP32. Ideally, 5V should be used to guarantee a sufficient power supply. Arrows on the board indicate the x and y axis for convenient usage.<br>
The built in Digital motion Prozessor (DMP) processes complex algorithms directly on the board, for example to procces the raw sensor data to stable position data. 
=== Pinout ===
[https://components101.com/sites/default/files/component_pin/MPU6050-Pinout.png Pinout]
;VCC
: First one is the VCC Pin, which is used to power the sensor, 3V - 5V can be applied
;GND
: Ground Pin, which should be connected to  one of the microcontrollers ground pins
;SCL
: Serial Clock (I²C). Connected to an SCL-Pin of the microcontroller, a clock pulse will be emitted which is used in I²C communication
: The clock source is provided by the microcontroller
;SDA
: Serial Data (I²C). SDA is used to transfer data to a microcontroller, connected to the microcontrollers SDA-Pin
;XDA
: Auxiliary Serial Data. Can be used to connect external I²C modules, like a magnetometer 
: The use of it is totally optional.(Not covered in this wikipage)
;XCL
: Auxiliary Serial Clock. Is used for communication with external I²C modules
: The use of it is totally optional.(Not covered in this wikipage)
;AD0
: Address Select Pin. Its a slave address. If you connect more than one MPU6050 with your microcontroller,
: the I²C bus of the microcontroller can distinguish the modules thanks to the unique address
:low -> 0x68; high 0x69
;INT
: Interrupt. Which is an interrupt digital output pin
: Is used to give the microcontroller indication that data is available to read. Use is optional
== Advantages / Disadvantages ==
=== Advantages ===
* Easy to use
* Orientation indicators
* Small and light
* DMP 
=== Disadvantages===
* Some GY521 use 2,2kΩ, which can be a problem if other sonsormodules are used too. A additional extern pullup resistor can help in these cases
* Some GY521 have a wrong or damaged capacitor which can lead to noise in the sensordata

== Get it to Work==
This Step-by-Step Guide shows how to connect the NodeMCU ESP32 with the GY521 - MPU6050 in the Arduino IDE.

=== IDE Setup ===
# Install latest Arduino IDE
# Update/install the CP210X USB-UART driver
# Setup ESP32 in Arduino IDE
## Open Arduino IDE
## File>Preferences enter in "Additional Boards Manager URLs" the following URL - "https://dl.espressif.com/dl/package_esp32_index.json"  
## Click OK
## Tools>Board>Boards Manager...
## Install "esp32" by espressif Systems
## Click Tools>Board>ESP32 DEV Module <br />(Your choice depends on the Board you are using. For NodeMCU ESP32 choose "ESP32 DEV Module")
## Tools>Manage Libraries search for"Adafruit mpu6050"
## Install the Library and all its dependencies
=== Wireing ===
[https://microcontrollerslab.com/wp-content/uploads/2021/05/MPU6050-with-ESP32-schematic.jpg Wireing Schematic]
Connect like following (GY521(MPU6050) -> ESP32):
* VCC -> 3V3
* GND -> GND 
* SCL -> D22 (GPIO22 I²C SCL)
* SDA -> D21 (GPIO21 I²C SDA)
=== ESP32 Setup ===
# Connect your ESP32 via USB to your machine
# In the IDE make sure you selected the right Port.<br/>Tools>Port>"Port of the connected ESP32"
# In Arduino IDE File>Examples>Adafruit MPU6050>plotter
# In the newly opened window with the Plotter-Code, click "Upload" and hold down the "Boot" button on the ESP32
# when the upload is completed, press the reset button "EN" on your ESP32
=== Data Readings ===
# Tools>Serial Monitor -> this will show you the Plotter-Code output. 
# Tools>Serial Plotter -> this will show you the outputdata plotted as a Graph.
=== Other IDE's ===
You can connect the GY251(MPU6050) in many ways with ESP32. <br/>So here is a more generic guide with mycrophython.

# Create a new file on your machine
# Copy the following code and paste it in your new file -> [https://raw.githubusercontent.com/adamjezek98/MPU6050-ESP8266-MicroPython/master/mpu6050.py mpu6050.py](Mycropython I²C API for ESP32 and ESP8266)
# Save the file as "mpu6050.py"
# Now upload the file to your ESP32
# Create a new file named main.py
# Copy the Code Example below in your "main.py" file
# Upload "main.py" to your ESP32
# Read the output in your preferred IDE's shell
=== Code Example ===
<syntaxhighlight lang="python" line='line'>
from machine import I2C
from machine import Pin
from machine import sleep
import mpu6050

i2c = I2C(scl=Pin(22), sda=Pin(21))     #initializing the I2C method for ESP32
#i2c = I2C(scl=Pin(5), sda=Pin(4))       #initializing the I2C method for ESP8266
mpu= mpu6050.accel(i2c)

while True:
 mpu.get_values()
 print(mpu.get_values())
 sleep(500)
</syntaxhighlight>

== Video ==
<youtube>J58DV_nJpGo</youtube>

== Notable links==
[https://invensense.tdk.com/wp-content/uploads/2015/02/MPU-6000-Datasheet1.pdf MPU6050 Data Sheet]