Control DC Motor CW/CCW with MPU-6050 Gyro/Accelerometer + Arduino

In this article you will get the code and circuit diagram to control the DC Motor CW/CCW using GY-521 gyroscope and accelerometer module (MPU-6050).

To make this prototype I am using:

1. Arduino UNO
2. GY-521 (MPU-6050)
3. L29dD Driver IC
4. DC Motor
5. Breadboard
6. Jumper wire

Circuit Diagram

Video Demo

Arduino code

#include <Wire.h>
#include<I2Cdev.h>
#include<MPU6050.h>

MPU6050 mpu;

int16_t ax, ay, az;
int16_t gx, gy, gz;

#define pin1 3
#define pin2 5

void setup(){
Serial.begin(9600);
Serial.println("Initialize MPU");
mpu.initialize();
//Serial.println(mpu.testConnection() ? "Connected" : "Connection failed"); pinMode(pin1,OUTPUT);
pinMode(pin2,OUTPUT);

}

void loop(){
mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);

ax = map(ax, -17000, 17000, -1500, 1500);

//Serial.println(ax);
if(ax > 0){
if(ax<255){
Serial.println(ax);
analogWrite(pin2,ax);
}
else{
Serial.println("+255");
analogWrite(pin2,255);
}

}
if(ax<0){
if(ax>-255){
Serial.println(ax);
analogWrite(pin1, ax-ax-ax);
}
else{
Serial.println("-255");
analogWrite(pin1, 255);
}
}
delay(1000);
}