THE MPU-6050 GYROSCOPE SENSOR TEST

BY USING ARDUINO PLATFORM AND

MATLAB
HUGO DAVID ENRÍQUEZ ESPINOSA
hdenríqueze@utn.edu.ec
ANGELO FERNANDO FLORES TARAMUEL
afflorest@utn.edu.ec
Ibarra, Ecuador

Abstract: The gyroscope has ability to get
accurate data of motions for space of three
dimensions such as axes of x, y and z. Its
applications are covered very widely such as in
mobile phone, consumer electronics, etc. Due to
the robust sense abilities of direction and
motion. In this paper, it is used MPU-6050 to
get data from motion with only use gyroscope
and these data are shown in a graphic from
Matlab Software. The experiment results show
that it has good performance.
I. INTRODUCTION
The development of MEMS (micro-
electromechanical system) gyroscope is by
using the concept of pendulum and vibrating
element. The movement which is an action
of direct input of controlling but it can also
be an actions of the physical environment
moving and position.
Gyroscopes have ability to sense and
measure the angular rate of an object under
complex and severe operating conditions.
[1]
same silicon die, together with an onboard
Digital Motion Processor™ (DMP™),
which processes complex 6-axis
MotionFusion algorithms. The device can
access external magnetometers or other
sensors through an auxiliary master I²C bus,
allowing the devices to gather a full set of
sensor data without intervention from the
system processor. The devices are offered in
a 4 mm x 4 mm x 0.9 mm QFN package. [2]
For precision tracking of both fast and slow
motions, the parts feature a user-
programmable gyro full-scale range of ±250,
±500, ±1000, and ±2000 °/sec (dps), and a
user-programmable accelerometer full-scale
range of ±2g, ±4g, ±8g, and ±16g.
Additional features include an embedded
temperature sensor and an on-chip oscillator
with ±1% variation over the operating
temperature range. [2]

MPU-6050 Six-Axis (Gyro +

Accelerometer) MEMS Devices.

The MPU-6050 parts are the world’s first

MotionTracking devices designed for the
low power, low cost, and high-performance
requirements of smartphones, tablets and Figure 2. Blocks diagram
wearable sensors.
The MPU-6050 devices combine a 3-axis
gyroscope and a 3-axis accelerometer on the
 GYROSCOPE
 Gyro system with 3 axes, made with
technology MEMS.
 It can be adjusted to values of ±250, ±500, ±
1000, and ±2000 ° / s.
 Integrates 3 digital analog converters of 16
bit, one for each axis.
 It has a programmable low pass filter
 Consumed 3.6mA.
 It has a programmable self-test. [3]
ACCELEROMETER
 Accelerometer system in 3 axes, made with
technology MEMS.
 Adjustable to sensitivity values of ± 2g, ± 4g,
± 8g and ± 16g.
 Integrates 3 analog 16-bit digital converters,
one per each axis.
 500μA consumption.
 It has programmable interrupts.
 Detection of free fall, vibration and
movement 0.
 It has a programmable self-test. [3]
COMUNICATION I2C
I2C is a bus for transmission of data in series
created in 1992 by Philips. The speed of
communication is 100 kbit/s though it can
increase up to 3.4 Mbit/s. It is a widespread
system in communication between
microcontrollers and peripherals.
Use 2 lines of transmission, SDA (Serial
Data Line) that circulate the data, and SCL
(Serial Clock Line) in which the clock signal
is sent. Each device connected to the bus has
an assigned address.
An advantage of this method of connection
to the sensor is the existence for Arduino
library Wire, which includes functions for
this type of communication. [4]
The Arduino introduced in 2005 is a free
used software and hardware tool such that all
designers can develop their products. It is
very easy to learn and connect to other
devices and sensors. Now it has also become
a popular test platform to learn, design and
develop any applications.
In this paper, the MPU6050 based Arduino
Test Platform is used to get Yaw Axis data
then show them in a window with Matlab
software by means of Arduino based on
Atmega 328 microprocessor. [5]
ATMEGA 328 MICROPROCESSOR
The Atmel AVR core combines a rich
instruction set with 32 general purpose
working registers. All the 32 registers are
directly connected to the Arithmetic Logic
Unit (ALU), allowing two independent
registers to be accessed in a single
instruction executed in one clock cycle. The
resulting architecture is more code efficient
while achieving throughputs up to ten times
faster than conventional CISC
microcontrollers. [6]
II. METHODOLOGY
CONTROL SYSTEM
PID (proportional integral derivative)
control: are the most widely used. He joined
the proportional control for 2 more terms.
 The integral has a memory effect, by
integrating the error, longer is you hold this
without becoming void, the greater the
signal for action. It affects the proportional
term and does not respond to abrupt changes
of the error signal.
𝑡
𝐼𝑠𝑎𝑙 = 𝐾𝑖 ∫0 𝑒(𝜏)𝑑𝜏 (1)
 The derivative can be interpreted as an
anticipatory effect, improves the stability of
the system at the expense of introducing
some delay. Does not affect static errors or
that they change very slowly and is very
sensitive to noise.
𝑑𝑒
𝐷𝑠𝑎𝑙 = 𝐾𝑑 𝑑𝑡 (2)
OBTAINING AND RESULT OF DATA
For the initialization of the program is must
include several libraries as are:
 #include "I2Cdev.h"
That serves for the type of communication
between the atmega328 and the sensor
MPU6050
 #include "MPU6050.h"
That serves for the recognition, initialization
and operation of the sensor MPU6050
 #include "Wire.h" [7]
Establishes the communication using I2C
with devices slaves. After making the
respective connection, the first program
which consists of establishing
communication with the sensor, activating,
and reading the registers in which the
obtained data is stored.
Figure 2. Data acquisition with static sensor.
3. The similar process to angle in z
Figure 3. Data acquisition with moving
sensor.
OBTAINING THE ANGLE
For the obtaining of the angle is developed 2
new functions, one to transform the data
obtained by the accelerometer and another
for them of the gyro.
 Accelerometer: this sensor we
obtain information affects how
gravity shafts, formed angle is
calculated from a trigonometric
relationship between the values
obtained.
 Gyro: it provides measures of
angular velocity, angle obtaining
will require a function that
integrates these values.
Used only the gyroscope, so the integral
must be used.
As the sensor just gives us velocity then the
integration of the angular velocity, gets the
angular displacement or degrees that has
moved. [7]
∫ 𝛼 𝑑𝑡 = 𝜔 → ∫ 𝜔 𝑑𝑡 = 𝜃 (3)
𝛼 = 𝐴𝑛𝑔𝑢𝑙𝑎𝑟 𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛
𝜔 = 𝐴𝑛𝑔𝑢𝑙𝑎𝑟 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦
𝜃 = 𝑑𝑒𝑔𝑟𝑒𝑒𝑠
1. This comand read the angular
velocity:
sensor.getRotation(&girox,
&giroy, &giroz);
2. Calculate the angles of rotation with
the integral:
dt = millis()-tiempo_previo;
tiempo_previo=millis();
ang_y = (giroy/131)*dt/1000.0 +
ang_y_previo;
ang_y_previo=ang_y;
Figure 4. Angles obtained with gyroscopes
MATLAB GRAPHIC [7] L. F. B. Bozal, "Diseño y fabricación de
una tarjeta PCB (“Shield”) para el control
MATLAB is a programming environment de un robot autobalanceado basado en
with infinite possibilities, which helps us Arduino," Pamplona, 2014.
solve our technical calculation problems
even faster than other programming
languages. MATLAB is extremely
powerful, so it can be built with it, here we
will perform the script for serial IV. ATTACHMENTS
communication with Arduino in real time
 FLOWCHART
Initialize the communication through the
following statements.

 fopen(puerto_serial);

Create a while loop that performs the

sampling and represents it in a graph.

At the end, we have to close the

communication with Arduino. We use the
command:

 fclose(puerto_serial);

III. REFERENCES

[1] Y.-J. Mon, "The Gyroscope Sensor Test by

Using Arduino," 2015.

[2] I. Inc, "Invensense," [Online]. Available:

https://www.invensense.com/products/moti
on-tracking/6-axis/mpu-6050/.

[3] InverSense.Inc, "InverSense.com," 08

Agosto 2013. [Online]. Available:
https://www.invensense.com/wp-
content/uploads/2015/02/MPU-6000-
Datasheet1.pdf.

[4] Prometec, "PROMETEC.COM," [Online].

Available: http://www.prometec.net/bus-
 CIRCUIT
i2c/.

[5] D. Titello, "Arduino Guide using MPU-

6050," Suwon, South Korea, 2015.

[6] ATMEL, "ATMEL 8-Bit AVR

Microcontrollers - ATmega328," [Online].
Available:
http://www.atmel.com/Images/Atmel-
42735-8-bit-AVR-Microcontroller-
ATmega328-328P_Summary.pdf.