In this project, we will build a Digital Protractor using MPU6050 and Arduino. Here a servo motor is used to display the angle on a protractor image. The Servo motor shaft will rotate on a protractor image to indicate the angle which is also displayed on a 16xLCD display.

HARDWARE REQUIRED

Name: Make a Digital Protractor using MPU6050 Gyroscope Module and SG-90 servo Motor
Brand: Robokreeda
SKU: 2722
Price: 1414.82 INR
Availability: InStock
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Arduino Uno with USB cable-1
MPU6050 Gyroscope Module – 1
16X2 LCD Display -1
SG90-Servo Motor -1
Jumper wires (Male to Male & Male to Female) – 40 pcs each
10K Potentiometer – 1
830 Pt. breadboard – 1
170 pt. breadboard – 1
Single Stand wire 1mt – 1

SOFTWARE REQUIRED

Arduino IDE 1.8.5 (programmable platform for Arduino)

Click To Download: https://www.arduino.cc/en/Main/Software

LIBRARY REQUIRED

Servo

https://drive.google.com/open?id=1XEyFZik_ENYtE4LOf3mOP3kqfqH3FNh2

LCD 16*2 Display

https://drive.google.com/open?id=14CpOZPTgmPcHedB1oDqeTVFI4eMwMcf7

Wire

https://drive.google.com/open?id=1Ej-R75OikJAlHrj275zYvKNzDN3cm0zi

MPU6050

https://drive.google.com/open?id=1LiY4DTqVo6vXTd-re3vsjldu3bjaU3Wd

After downloading these libraries

To install the libraries – Go to sketch -> Include library -> add .zip library

CIRCUIT CONNECTION

Circuit Connections between Arduino UNO and MPU6050:

MPU6050	Arduino UNO
VCC	+5V
GND	GND
SCL	A5
SDA	A4

Circuit Connections between Arduino UNO and Servo Motor:

Servo Motor	Arduino UNO
RED (VCC)	+5V
ORANGE (PWM)	9
BROWN (GND)	GND

Circuit Connections between Arduino UNO and 16×2 LCD:

LCD	Arduino UNO
VSS	GND
VDD	+5V
V0	To Potentiometer Centre PIN For Controlling the Contrast of the LCD
RS	12
RW	GND
E	11
D4	7
D5	6
D6	5
D7	4
A	+5V
K	GND

CODE

https://drive.google.com/open?id=1rsXReWi1u4AvQrBOCYIx7KVrEVSHnIOC

#include <Servo.h> //Include Servo Motor library for using Servo

#include <LiquidCrystal.h> //Include LCD library for using LCD

#include <Wire.h> //Include WIre library for using I2C

#include <MPU6050.h>

LiquidCrystal lcd(12,11,7,6,5,4); //Define LCD display pins RS,E,D4,D5,D6,D7

const int MPU_addr=0x68; //I2C MPU6050 Address

Servo myservo; //myservo object for class servo

int16_t axis_X,axis_Y,axis_Z;

int minVal=265;

int maxVal=402;

double x;

double y;

double z;

int pos = 0;

void setup()

{

Wire.begin(); //Begins I2C communication

Wire.beginTransmission(MPU_addr); //Begins Transmission with MPU6050

Wire.write(0x6B); //Puts MPU6050 in Sleep Mode

Wire.write(0); //Puts MPU6050 in power mode

Wire.endTransmission(true); //Ends Trasmission

myservo.attach(9); //Servo PWM pin as 9 in UNO

lcd.begin(16,2); //Sets LCD in 16X2 Mode

lcd.print(“REES52”);

delay(1000);

lcd.clear();

lcd.setCursor(0,0);

lcd.print(“Arduino”);

lcd.setCursor(0,1);

lcd.print(“MPU6050”);

delay(2000);

lcd.clear();

}

void loop()

{

Wire.beginTransmission(MPU_addr); //Begins I2C transmission

Wire.write(0x3B); //Start with register 0x3B (ACCEL_XOUT_H)

Wire.endTransmission(false);

Wire.requestFrom(MPU_addr,14,true); //Request 14 Registers from MPU6050

axis_X=Wire.read()<<8|Wire.read(); //Obtain 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)

axis_Y=Wire.read()<<8|Wire.read(); //0x3B (ACCEL_YOUT_H) & 0x3C (ACCEL_YOUT_L)

axis_Z=Wire.read()<<8|Wire.read(); //0x3B (ACCEL_ZOUT_H) & 0x3C (ACCEL_ZOUT_L)

int xAng = map(axis_X,minVal,maxVal,-90,90);

int yAng = map(axis_Y,minVal,maxVal,-90,90);

int zAng = map(axis_Z,minVal,maxVal,-90,90);

x= RAD_TO_DEG * (atan2(-yAng, -zAng)+PI); //Formula to calculate x values in degree

int pos = map(x,0,180,0,180); // As X value is from 0 to 360 deg

myservo.write(pos); // Write angle obtained 0 to 180 to servo

lcd.setCursor(0,0);

lcd.print(“Angle”);

lcd.setCursor(0,1);

lcd.print(x);

delay(500);

lcd.clear();

}

WORKING AND OUTPUT

Welcome to the Arduino-based project in which we are Making a digital protractor using the servo Motor and MPU6050 Accelerometer module. In the code Formula to calculate the x value in degrees (0 to 360) is given below. Here we convert only x because the servo motor rotation is based on x value movement.

x= RAD_TO_DEG * (atan2(-yAng, -zAng)+PI);

write the angle value to rotate the servo on the protractor image and Print those values on the 16×2 LCD. So, this is how MPU6050 with Arduino can be used to measure the angle.

Here servo motor is connected with Arduino and its shaft is projected on the protractor image indicating the angle of the inclined MPU6050

According to the orientation of the MPU 6050 module, we will see the inclination angle on the LCD as well servo motor along with a protractor image.

Try to move at different angles and check the degree rotation on LCD and Protractor.