Particle Photon - MPU-6000 6-Axis Motion Tracking Sensor Tutorial

MPU-6000 is a 6-Axis Motion Tracking Sensor which has 3-Axis accelerometer and 3-Axis gyroscope embedded in it. This sensor is capable of efficient tracking of exact position and location of an object in the 3-dimensional plane. It can be employed in the systems which require position analysis to the highest precision. Here is the demonstration with Particle photon.

1. Particle Photon

2. MPU-6000

3. I²C Cable

4. I²C Shield for Particle Photon

Take an I2C shield for particle photon and gently push it over the pins of particle photon.

Then connect the one end of I2C cable to MPU-6000 sensor and the other end to the I2C shield.

Connections are shown in the picture above.

The particle code for MPU-6000 can be downloaded from our GitHub repository- Dcube Store.

Here is the link for the same :

https://github.com/DcubeTechVentures/MPU-6000...

We have used two libraries for particle code, which are application.h and spark_wiring_i2c.h. Spark_wiring_i2c library is required to facilitate the I2C communication with the sensor.

You can also copy the code from here, it is given as follows:

// Distributed with a free-will license.

// Use it any way you want, profit or free, provided it fits in the licenses of its associated works.

// MPU-6000

// This code is designed to work with the MPU-6000_I2CS I2C Mini Module available in Dcube Store.

#include

#include

// MPU-6000 I2C address is 0x68(104)

#define Addr 0x68

int xGyro = 0, yGyro = 0, zGyro = 0, xAccl = 0, yAccl = 0, zAccl = 0;

void setup()

{

// Set variable

Particle.variable("i2cdevice", "MPU-6000");

Particle.variable("xAccl", xAccl);

Particle.variable("yAccl", yAccl);

Particle.variable("zAccl", zAccl);

Particle.variable("xGyro", xGyro);

Particle.variable("yGyro", yGyro);

Particle.variable("zGyro", zGyro);

// Initialise I2C communication as Master

Wire.begin();

// Initialise serial communication, set baud rate = 9600

Serial.begin(9600);

// Start I2C transmission

Wire.beginTransmission(Addr);

// Select gyroscope configuration register

Wire.write(0x1B);

// Full scale range = 2000 dps

Wire.write(0x18);

// Stop I2C transmission

Wire.endTransmission();

// Start I2C transmission

Wire.beginTransmission(Addr);

// Select accelerometer configuration register

Wire.write(0x1C);

// Full scale range = +/-16g

Wire.write(0x18);

// Stop I2C transmission

Wire.endTransmission();

// Start I2C transmission

Wire.beginTransmission(Addr);

// Select power management register

Wire.write(0x6B);

// PLL with xGyro reference

Wire.write(0x01);

// Stop I2C transmission

Wire.endTransmission();

delay(300);

}

void loop()

{

unsigned int data[6];

// Start I2C transmission

Wire.beginTransmission(Addr);

// Select data register

Wire.write(0x3B);

// Stop I2C transmission

Wire.endTransmission();

// Request 6 bytes of data

Wire.requestFrom(Addr, 6);

// Read 6 byte of data

if (Wire.available() == 6)

{

data[0] = Wire.read();

data[1] = Wire.read();

data[2] = Wire.read();

data[3] = Wire.read();

data[4] = Wire.read();

data[5] = Wire.read();

}

delay(800);

// Convert the data

xAccl = ((data[1] * 256) + data[0]);

if (xAccl > 32767)

{

xAccl -= 65536;

}

yAccl = ((data[3] * 256) + data[2]);

if (yAccl > 32767)

{

yAccl -= 65536;

}

zAccl = ((data[5] * 256) + data[4]);

if (zAccl > 32767)

{

zAccl -= 65536;

}

delay(800);

// Start I2C transmission

Wire.beginTransmission(Addr);

// Select data register

Wire.write(0x43);

// Stop I2C transmission

Wire.endTransmission();

// Request 6 bytes of data

Wire.requestFrom(Addr, 6);

// Read 6 byte of data

if (Wire.available() == 6)

{

data[0] = Wire.read();

data[1] = Wire.read();

data[2] = Wire.read();

data[3] = Wire.read();

data[4] = Wire.read();

data[5] = Wire.read();

}

delay(800);

// Convert the data

xGyro = ((data[1] * 256) + data[0]);

if (xGyro > 32767)

{

xGyro -= 65536;

}

yGyro = ((data[3] * 256) + data[2]);

if (yGyro > 32767)

{

yGyro -= 65536;

}

zGyro = ((data[5] * 256) + data[4]);

if (zGyro > 32767)

{

zGyro -= 65536;

}

delay(800);

// Output data to dashboard

Particle.publish("Acceleration in X-Axis : ", String(xAccl));

Particle.publish("Acceleration in Y-Axis : ", String(yAccl));

Particle.publish("Acceleration in Z-Axis : ", String(zAccl));

delay(1000);

Particle.publish("X-Axis of Rotation : ", String(xGyro));

Particle.publish("Y-Axis of Rotation : ", String(yGyro));

Particle.publish("Z-Axis of Rotation : ", String(zGyro));

delay(1000);

}

MPU-6000 is a motion tracking sensor, which finds its application in the motion interface of smartphones and tablets. In smartphones these sensors can be employed in the applications such as gesture commands for applications and phone control, enhanced gaming, augmented reality, panoramic photo capture and viewing, and pedestrian and vehicle navigation. MotionTracking technology can convert handsets and tablets into powerful 3D intelligent devices that can be used in applications ranging from health and fitness monitoring to location-based services.