Arduino MAIN (AutoNOMOS Mini v2)

Install Ardunio Software:

You can install Ardunio Software from link below:

 https://www.arduino.cc/en/Main/Software

Then Download external libraries and codes for the model car from link below:

 git clone https://github.com/AutoModelCar/auto_arduino_nano.git
 cd auto_arduino_nano
 git checkout version-2

Copy the (MPU6050, MsTimer2, I2Cdev) libraries to the arduino-1.6.9/libraries folder.

version 1.6.9

hints:

• Turn off the car.
• Connect the USB port to Arduino nano.
• From toolbar: Tools select Arduino nano and select the correct USB port (e.g :/dev/ttyUSB0)
• Add permission to use the USB Port: sudo chmod 777 /dev/ttyUSB0
• Compile and upload the code.

Main.ino

Main code allows the Arduino board to calculate the yaw angle from MPU6050 through I2C.

Calculate the yaw angle from MPU6050 through I2C

Allows the Arduino Board to initialize the I2C device and read the raw data (gyroscopes and accelerometers) from the MPU6050 and convert it to the yaw angle. Then it sends the yaw angle in degrees through the serial port to the Odroid. To read the yaw angle, you should wait at least 10 seconds at the beginning -- then you can read the correct yaw angle in degrees with 115200 baud rate .

Serial.print("ypr\t");//yaw
Serial.println(ypr[0] * 180/M_PI);

Figure 17: Yaw angle in relation to the car’s body