How to Measure Angle With MPU-6050(GY-521)

In this Instructable, we will measure angle with an Arduino. We need some cables, an Arduino UNO and GY-521(MPU-6050) in order to measure angle.

Step 1: Connecting MPU-6050 to Arduino UNO

We need some male-female cables, an Arduino UNO and GY-521(MPU-6050) sensor to measure angle. We have to connect MPU-6050 to Arduino UNO like shown in the picture. So,

• VCC to 5V(MPU-6050 works with 3.3V but GY-521 increases it to 5V.),
• GND to GND,
• SCL to A5,
• SDA to A4,
• ADO to GND,
• INT to digital pin 2.

Step 2: Code

Here is the code. It uses I2C. I took some parts of code from internet.(I2C part)

//Written by Ahmet Burkay KIRNIK
//Measurement of Angle with MPU-6050(GY-521)

#include<Wire.h>

const int MPU_addr=0x68; int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;

int minVal=265; int maxVal=402;

double x; double y; double z;

void setup(){ Wire.begin(); Wire.beginTransmission(MPU_addr); Wire.write(0x6B); Wire.write(0); Wire.endTransmission(true); Serial.begin(9600); } void loop(){ Wire.beginTransmission(MPU_addr); Wire.write(0x3B); Wire.endTransmission(false); Wire.requestFrom(MPU_addr,14,true); AcX=Wire.read()<<8|Wire.read(); AcY=Wire.read()<<8|Wire.read(); AcZ=Wire.read()<<8|Wire.read(); int xAng = map(AcX,minVal,maxVal,-90,90); int yAng = map(AcY,minVal,maxVal,-90,90); int zAng = map(AcZ,minVal,maxVal,-90,90);

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

Serial.print("AngleX= "); Serial.println(x);

Serial.print("AngleY= "); Serial.println(y);

Serial.print("AngleZ= "); Serial.println(z); Serial.println("-----------------------------------------"); delay(400); }

Step 3: Done!

It's done! If it doesn't work or you need help, please leave a comment or send an email. You can find my email adress from comments. By the way, my English is not so good so I apologise for my bad English.

Ahmet Burkay KINIK

Istanbul/TURKEY

Edit: After 2 years, my English got better so I corrected some mistakes.