mecanum-wheel-Robot-PID-control

Arduino Uno, motor control shield L293D, MPU-9250 sensor mudule, 4 * JGA25-370 motor, jumper wires, 4*dumpers & 3s lipo are used in the actual project.

MPU-9250 sensor setup on Raspberry Pi 3B
MPU-9250 sensor setup on Arduino Uno

MPU-9250 sensor setup on Raspberry Pi 3B

1. Build the connection

Connect SCL & SDA pin to pin5 & pin3 of Raspberry Pi, then connect Vcc & Ground pin to the 3.3V power pin(pin1) & Ground pin of Raspberry Pi

2. Setup the Raspberry Pi

First we set up a folder for the project in the /home/pi directory and get the i2c tools installed

mkdir jbc
cd jbc
mkdir scripts
sudo apt-get install i2c-tools

Click the Menu in the top Left Corner, go to Prefrences->Raspberry Pi Configuration->Interfaces and enable i2c (this will require a reboot).

3. Setup the environment

sudo i2cdetect -y 1

If the number 68 is in the grid that displays, mpu is detected.
Then install cmake for building the sensor's library

sudo apt-get install cmake

Install python to setup the develop environment

sudo apt-get install python-dev

Install Octave to calibrate the sensor

sudo apt-get install octave

Next, get the RTIMULib Library from Github

git clone https://github.com/richards-tech/RTIMULib2.git
cd RTIMULib2/Linux/RTIMULibCal
make -j4
sudo make install

The last thing is to setup our working directory

cp -r /home/pi/jbc/RTIMULib2/RTEllipsoidFit/ /home/pi/jbc/

4. Calibrating the MPU-9250 on the Raspberry Pi

Change to the RTEllipsoidFit folder and run RTIMULibCal:

cd /home/pi/jbc/RTEllipsoidFit/
RTIMULibCal

Then follow the instructions to calibrate the sensor.
After finished, copy the sonser data file to our working dictionary

cp RTIMULib.ini /home/pi/jbc/scripts/

5. Copy the script

Download the imu2.py file and place it under scripts folder

MPU-9250 sensor setup on Arduino Uno

1. Build the connection

Connect SCL & SDA pin to A5 & A4 of Arduino Uno, then connect Vcc & Ground pin to the 3.3V power pin(pin1) & Ground pin of Arduino Uno

2. Download & install Arduino Librarys

Download library zip files from the Arduino_Library.
Unpack the folders and paste them to the library folder under Arduino root directory.

3. Copy the script

Download the mecanum.ino file and load it onto Arduino Uno.