Real-Time MPU6050 IMU 3D Visualization

This project captures orientation data (roll, pitch, and yaw) from an MPU6050 Inertial Measurement Unit (IMU) connected to an ESP8266 (or other Arduino-compatible board). The data is sent via a serial connection to a Python script, which uses PyOpenGL and PyGame to render a real-time 3D visualization of the sensor's orientation.

Additionally, the Arduino code demonstrates how to control a servo motor based on the calculated roll angle.

(A sample GIF showing the 3D model rotating in sync with the physical IMU board)

Features

• Real-time Sensor Fusion: Reads accelerometer and gyroscope data from the MPU6050.
• Complementary Filter: A simple and effective filter is used on the Arduino to combine sensor readings for stable angle calculations.
• 3D Visualization: A Python script uses PyOpenGL to draw a 3D cuboid that visually represents the IMU's current orientation.
• Serial Communication: Efficient request/response communication between the Arduino and the Python script.
• Interactive Controls: Toggle yaw tracking on the fly and quit the application gracefully.
• Servo Control: The Arduino sketch includes code to control a servo motor based on the roll angle, perfect for projects like self-balancing robots or camera gimbals.

How It Works

1. Arduino/ESP8266:

   • The microcontroller continuously reads raw data from the MPU6050 sensor.
   • It applies a complementary filter to the raw values to calculate stable roll, pitch, and yaw angles.
   • It listens for a . character over the serial port. Upon receiving it, it sends back the latest calculated angles as a comma-separated string (e.g., -10.24, 5.12, 95.80).
   • It also drives a connected servo motor to an angle corresponding to the current roll value.

2. Python Script:

   • Initializes a PyGame window with an OpenGL context.
   • In a loop, it sends a . character to the specified serial port to request data from the Arduino.
   • It reads and parses the incoming line of data to get the roll, pitch, and yaw angles.
   • It uses these angles to apply rotations (glRotatef) to the 3D model, updating its orientation on the screen.
   • It handles user input for quitting the application or toggling yaw mode.

How Accelerometers works

How Gyroscopes works

Hardware Requirements

• An Arduino-compatible board (the code is configured for an ESP8266 like a Wemos D1 Mini or NodeMCU).
• MPU6050 Gyroscope/Accelerometer Module.
• A standard servo motor (optional).
• Jumper wires.

Wiring (for ESP8266)

• MPU6050 VCC -> 3.3V
• MPU6050 GND -> GND
• MPU6050 SCL -> D1 (GPIO5)
• MPU6050 SDA -> D2 (GPIO4)
• Servo Signal -> D4 (GPIO2)
• Servo VCC -> 5V / VIN
• Servo GND -> GND

Software & Dependencies

Arduino

• Arduino IDE
• Board support for your microcontroller (e.g., ESP8266 Core).
• Wire.h and Servo.h libraries (typically included with the board core).

Python

• Python 3.x
• PyOpenGL
• PyGame
• PySerial

You can install the required Python packages using pip:

pip install PyOpenGL PyGame pyserial

Setup and Usage

1. Hardware: Connect the components as described in the wiring diagram above.
2. Arduino:
   • Open the .ino sketch in the Arduino IDE.
   • Select your board (e.g., "LOLIN(WEMOS) D1 R2 & mini") and the correct COM port from the Tools menu.
   • Upload the sketch to your board.
3. Python:
   • Open the main.py file.
   • Crucially, find this line and change 'COM3' to the COM port your Arduino is using:

     ser = serial.Serial('COM3', 115200)

4. Run:
   • Execute the Python script from your terminal:

     python main.py

   • A window should appear showing the 3D model. Tilt your MPU6050 sensor to see it move!

Controls

• z key: Toggles yaw tracking on or off. When toggled on, it also resets the current yaw angle to zero.
• Esc key: Closes the application.