Arduino Project

Arduino MPU6050 Motion Control Servo Project

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Looking for parts? Check out our all-in-one kits below — packed with components, beginner-friendly guides, and tons of fun.

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Name	Includes Arduino board	PURCHASE LINK
Elite Explorer Kit	Arduino Uno R4 WiFi	BUY
3 in 1 Ultimate Starter Kit	Arduino Uno R4 Minima	BUY
Ultimate Sensor Kit	Arduino Uno R4 Minima	BUY
Universal Maker Sensor Kit	×	BUY

Course Introduction

In this lesson, you’ll learn how to use the MPU6050 module with the Arduino to control a servo motor through horizontal rotation.

As you rotate the MPU6050 left or right, the Arduino reads the Z-axis gyroscope data to calculate the rotation angle.

The servo then follows the movement, rotating between 0° and 180° based on the sensor’s orientation.

Note

If this is your first time working with an Arduino project, we recommend downloading and reviewing the basic materials first.

1.1 Install Arduino IDE(Important)
1.2 Introduction of Arduino IDE

Required Components

In this project, we need the following components:

SN	COMPONENT INTRODUCTION	QUANTITY	PURCHASE LINK
1	Arduino UNO R4 WIFI	1	BUY
2	USB Type-C cable	1	×
3	Breadboard	1	BUY
4	Wires	Several	BUY
5	Digital Servo Motor	1	BUY
6	MPU6050 Module	1	BUY

Wiring

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Common Connections:

Digital Servo Motor
Connect to breadboard’s positive power bus.
Connect to breadboard’s negative power bus.
Connect to 9 on the Arduino.

MPU6050
SDA: Connect to SDA on the Arduino.
SCL: Connect to SCL on the Arduino.
GND: Connect to breadboard’s negative power bus.
VCC: Connect to breadboard’s red power bus.

Writing the Code

Note
You can copy this code into Arduino IDE.
To install the library, use the Arduino Library Manager and search for Adafruit MPU6050, Adafruit Unified Sensor and install it.
Don’t forget to select the board(Arduino UNO R4 Minima) and the correct port before clicking the Upload button.

/*
  MPU6050 Horizontal Motion-Controlled Servo

  Board: Arduino UNO R4 WiFi
  Sensor: MPU6050 (GY-521)
  Servo: SG90

  Rotate the MPU6050 horizontally to
  control the servo from 0 to 180 degrees.

  Initial position: 90 degrees
  Rotate left: Servo moves toward 0 degrees
  Rotate right: Servo moves toward 180 degrees

  Keep the sensor still during startup.
*/

#include <Wire.h>
#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>
#include <Servo.h>
#include <math.h>

// Create sensor and servo objects
Adafruit_MPU6050 mpu;
Servo myServo;

// Servo settings
const int SERVO_PIN = 9;
const int CENTER_ANGLE = 90;
const int MIN_ANGLE = 0;
const int MAX_ANGLE = 180;

// Change to -1 to reverse the direction
const int DIRECTION = 1;

// Ignore small gyro noise (degrees per second)
const float GYRO_DEADBAND = 0.5;

// Angle variables
float yawAngle = 0;
float gyroOffsetZ = 0;

// Timing variables
unsigned long previousTime = 0;
unsigned long lastPrintTime = 0;

void setup() {
  Serial.begin(115200);

  Wire.begin();

  // Initialize MPU6050
  if (!mpu.begin()) {
    Serial.println("MPU6050 not found!");

    while (true) {
      delay(100);
    }
  }

  // Configure MPU6050
  mpu.setAccelerometerRange(MPU6050_RANGE_2_G);
  mpu.setGyroRange(MPU6050_RANGE_250_DEG);
  mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);

  // Initialize servo
  myServo.attach(SERVO_PIN);
  myServo.write(CENTER_ANGLE);

  Serial.println("Keep MPU6050 still...");
  delay(1000);

  // Calibrate Z-axis gyroscope
  float gyroSum = 0;

  for (int i = 0; i < 500; i++) {
    sensors_event_t a, g, temp;

    mpu.getEvent(&a, &g, &temp);

    gyroSum += g.gyro.z;

    delay(3);
  }

  // Calculate gyroscope offset
  gyroOffsetZ = gyroSum / 500.0;

  // Set initial horizontal angle to zero
  yawAngle = 0;

  previousTime = micros();

  Serial.println("Calibration complete!");
  Serial.println("Rotate MPU6050 horizontally.");
}

void loop() {
  sensors_event_t a, g, temp;

  // Read MPU6050
  mpu.getEvent(&a, &g, &temp);

  // Calculate elapsed time
  unsigned long currentTime = micros();

  float dt = (currentTime - previousTime)
            / 1000000.0;

  previousTime = currentTime;

  if (dt <= 0 || dt > 0.1) {
    delay(10);
    return;
  }

  // Read Z-axis gyroscope
  // Convert radians/sec to degrees/sec
  float gyroZ = (g.gyro.z - gyroOffsetZ)
                * 180.0 / PI;

  // Ignore small sensor noise
  if (abs(gyroZ) < GYRO_DEADBAND) {
    gyroZ = 0;
  }

  // Calculate horizontal rotation angle
  yawAngle += gyroZ * dt;

  // Map horizontal rotation to servo angle
  float targetAngle =
    CENTER_ANGLE + yawAngle * DIRECTION;

  // Limit servo movement
  int servoAngle = constrain(
    (int)round(targetAngle),
    MIN_ANGLE,
    MAX_ANGLE
  );

  // Control servo
  myServo.write(servoAngle);

  // Print values every 100 ms
  if (millis() - lastPrintTime >= 100) {
    lastPrintTime = millis();

    Serial.print("Yaw Angle: ");
    Serial.print(yawAngle, 1);

    Serial.print(" | Servo Angle: ");
    Serial.println(servoAngle);
  }

  delay(10);
}

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Arduino Project

Arduino MPU6050 Motion Control Servo Project

Kit purchase

Course Introduction

Required Components

Wiring

Common Connections:

Writing the Code

Arduino Project

Arduino MPU6050 Motion Control Servo Project

Kit purchase

Course Introduction

Required Components

Wiring

Common Connections:

Writing the Code

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