Circuit Documentation

Summary of the Circuit

This circuit is designed to control a Brushless DC (BLDC) motor via an Electronic Speed Controller (ESC) to stabilize a cube using an MPU-6050 Inertial Measurement Unit (IMU) sensor. The system reads the orientation of the cube and adjusts the motor speed to maintain the original position. The Arduino UNO serves as the central microcontroller unit, interfacing with the MPU-6050 for orientation data and controlling the ESC, which in turn drives the BLDC motor. A lipo battery provides power to the system, and an AMS1117 voltage regulator ensures stable voltage supply to the Arduino UNO.

Component List

Arduino UNO

• Microcontroller board based on the ATmega328P
• Provides I/O pins and communication interfaces

Lipo Battery 2200mAh 30C

• Provides power to the circuit
• 2200mAh capacity for extended operation

BLDC Motor

• Three-phase motor used for actuation
• Controlled by the ESC based on input from the Arduino UNO

Electronic Speed Controller (ESC)

• Interfaces between the Arduino UNO and the BLDC motor
• Regulates the speed of the motor based on the signal from the Arduino UNO

MPU-6050

• A 6-axis IMU sensor
• Measures acceleration and angular rates to determine orientation

AMS1117

• Voltage regulator
• Provides stable voltage to the Arduino UNO from the lipo battery

Wiring Details

Arduino UNO

• 3.3V connected to MPU-6050 VCC
• 5V connected to ESC 5v out
• GND connected to ESC GND out, AMS1117 GND, lipo battery GND, MPU-6050 GND
• Vin connected to AMS1117 Volt Out, lipo battery VCC, ESC Battery VCC
• SCL connected to MPU-6050 SCL
• SDA connected to MPU-6050 SDA
• D9 connected to ESC Signal

Lipo Battery 2200mAh 30C

• VCC connected to AMS1117 Volt In, ESC Battery VCC
• GND connected to AMS1117 GND, ESC Battery GND

BLDC Motor

• Wire A connected to ESC M1
• Wire B connected to ESC M2
• Wire C connected to ESC M3

Electronic Speed Controller (ESC)

• Battery VCC connected to lipo battery VCC
• Battery GND connected to lipo battery GND
• Signal connected to Arduino UNO D9
• 5v out connected to Arduino UNO 5V
• GND out connected to Arduino UNO GND
• M1, M2, M3 connected to respective wires of the BLDC Motor

MPU-6050

• VCC connected to Arduino UNO 3.3V
• GND connected to Arduino UNO GND
• SCL connected to Arduino UNO SCL
• SDA connected to Arduino UNO SDA

AMS1117

• Volt Out connected to Arduino UNO Vin
• GND connected to Arduino UNO GND
• Volt In connected to lipo battery VCC

Documented Code

/*
 * Reaction Flywheel Stabilization System
 * This code is designed to control a BLDC motor via an ESC to stabilize a cube
 * using an MPU-6050 IMU sensor. The system will read the orientation of the cube
 * and adjust the motor speed to maintain the original position.
 */

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

MPU6050 mpu;

const int escPin = 9; // ESC signal connected to pin D9
int16_t ax, ay, az;
int16_t gx, gy, gz;

void setup() {
  // Initialize serial communication
  Serial.begin(9600);

  // Initialize MPU-6050
  Wire.begin();
  mpu.initialize();
  if (!mpu.testConnection()) {
    Serial.println("MPU6050 connection failed");
    while (1);
  }

  // Initialize ESC pin
  pinMode(escPin, OUTPUT);
  analogWrite(escPin, 0); // Start with motor off
}

void loop() {
  // Read raw accelerometer and gyroscope data
  mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);

  // Process sensor data to determine orientation
  float angleX = atan2(ay, az) * 180 / PI;
  float angleY = atan2(ax, az) * 180 / PI;

  // Calculate motor speed based on orientation
  int motorSpeed = map(angleX, -90, 90, 0, 255);
  motorSpeed = constrain(motorSpeed, 0, 255);

  // Write motor speed to ESC
  analogWrite(escPin, motorSpeed);

  // Print data for debugging
  Serial.print("AngleX: "); Serial.print(angleX);
  Serial.print(" AngleY: "); Serial.println(angleY);
  Serial.print(" Motor Speed: "); Serial.println(motorSpeed);

  // Delay for stability
  delay(100);
}

This code is responsible for initializing the MPU-6050 sensor and reading its data to determine the orientation of the cube. It then calculates the motor speed required to maintain the cube's position and sends the corresponding signal to the ESC, which controls the BLDC motor. The serial output can be used for debugging and monitoring the system's performance.