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+---
+title: Building a gyroscope using MPU 6000
+date: 2024-12-4
+authors:
+ - name: Jiahao Han
+ - name: Ryan Sevidal
+---
+
+
+
+## Introduction
+
+This tutorial will teach readers how to use the MPU 6000 to measure the x y and z axises to keep upright
+
+### Learning Objectives
+
+- MPU schematics and ways to utilize the chip
+- Schematic making, as well as using KiCad to 3d render
+
+### Background Information
+
+The MPU chip is primarily used in drones to keep their orientation stable, in your phones, or even in your controllers if you play on it. So, specifically we are trying to do it for drone purposes. We would first need to create the board creating a schematic, then further it by connecting that to a microcontroller that receives the data.
+
+What we're aiming for
+1. Making sure that our wiring can power the device on.
+2. Provides real-time feedback on where exactly the device is orientated.
+
+
+Key Concepts:
+
+1. Circuit Basics
+2. KiCad Basics
+
+## Getting Started
+
+For any software prerequisites, write a simple excerpt on each
+technology the participant will be expecting to download and install.
+Aim to demystify the technologies being used and explain any design
+decisions that were taken. Walk through the installation processes
+in detail. Be aware of any operating system differences.
+For hardware prerequisites, list all the necessary components that
+the participant will receive. A table showing component names and
+quantities should suffice. Link any reference sheets or guides that
+the participant may need.
+The following are stylistic examples of possible prerequisites,
+customize these for each workshop.
+
+### Required Downloads and Installations
+
+List any required downloads and installations here.
+Make sure to include tutorials on how to install them.
+You can either make your own tutorials or include a link to them.
+
+### Required Components
+
+List your required hardware components and the quantities here.
+
+| Component Name | Quanitity |
+| -------------- | --------- |
+| | |
+| | |
+
+### Required Tools and Equipment
+
+List any tools and equipment you need here.
+(Ex, computer, soldering station, etc.)
+
+## Part 01: Name
+
+### Introduction
+
+Briefly introduce what you are teaching in this section.
+
+### Objective
+
+- List the learning objectives of this section
+
+### Background Information
+
+Give a brief explanation of the technical skills learned/needed
+in this challenge. There is no need to go into detail as a
+separation document should be prepared to explain more in depth
+about the technical skills
+
+### Components
+
+- List the components needed in this challenge
+
+### Instructional
+
+Teach the contents of this section
+
+## Example
+
+### Introduction
+
+Introduce the example that you are showing here.
+
+### Example
+
+Present the example here. Include visuals to help better understanding
+
+### Analysis
+
+Explain how the example used your tutorial topic. Give in-depth analysis of each part and show your understanding of the tutorial topic
+
+## Additional Resources
+
+### Useful links
+
+List any sources you used, documentation, helpful examples, similar projects etc.
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----
-title: Battery Indicator with ESP32
-date: 2024-11-21
-authors:
- - name: Andy Tu
- - name: Madeline Fruin
- - name: William Luong
----
-
-
-## Introduction
-
-This tutorial will teach readers how to use ESP32's ADC pins to measure a battery's charge. Since the ADC pins can take in a max of 3.3V, we will be covering how to implement a voltage divider to lower the maximum voltage of a battery to an amount allowed by the ESP32. For the coding section, we will use the Arduino IDE to write code that will read, display, and convert the battery readings to a charge percentage using a function.
-
-### Learning Objectives
-
-- Voltage Dividers
-- ESP32 ADC/GPIO Pins
-- Arduino C
-- Battery Charge State
-
-### Background Information
-
-A battery indicator circuit measures the state of charge (SoC) of a battery and visually outputs whether the battery’s capacity is low or full. These circuits are commonly used in battery management systems, smartphones, and other consumer electronics.
-
-Pros:
-1. Provides real-time feedback on battery life.
-2. Prevents damage to the battery by avoiding overcharging or over-discharging.
-3. Offers insights to maximize battery life and performance.
-
-Cons:
-
-1. The more complex the circuit, the higher the cost (e.g., precise resistors may be required).
-2. Limited accuracy, as voltage alone isn’t the only factor that determines the charge state.
-
-Key Concepts:
-
-1. Voltage Divider
-2. Resistor Ratios with Multiple Batteries
-3. Arduino Basics
-
-## Getting Started
-
-You will receive an ESP32 board and USB-C to USB-C connector cable. The ESP32 board utilizes the ESP32 (obviously). The ESP32 is a system on a chip with Wifi and bluetooth capacbilities. This means that it can be used to make IoT projects(Internet of things). However, we will be using it very simply, you do not need to understand everything it can do for this tutorial.
-
-You will also receive a breadboard, jumper cables, and resistors. The rows of the breadboard are connected while the columns are not. The resistors and jumper cables should fit snuggly into the holes of the breadboard.
-
-We will be using the Arduino IDE (Integrated Development Environment). This is a free, open source program that allows users to write code and upload it to boards.
-
-### Required Downloads and Installations
-
-If you don't have the Arduino IDE already, download it [here](https://www.arduino.cc/en/software).
-
-### Required Components
-
-List your required hardware components and the quantities here.
-
-| Component Name | Quanitity |
-| -------------- | --------- |
-| ESP32 | 1 |
-| ESP32 Connector Cable | 1 |
-|Resistors (47kΩ)| 2 |
-| 18650 Battery | 1 |
-| Battery Holder | 1 |
-|Mini Breadboard | 1 |
-| Jumper Cables | 2 |
-
-
-### Required Tools and Equipment
-
-Computer, Arduino IDE
-
-## Part 01: Setting up the Circuit
-
-### Introduction
-
-In this section, we will be discussing the voltage divider and circuit setup. We will not be writing any code, so a computer is not yet needed.
-
-### Objective
-
-- Understand how to pick values for a voltage divider.
-- Understand how to properly connect the battery, resistors, and ESP32.
-
-### Background Information
-
-Give a brief explanation of the technical skills learned/needed
-in this challenge. There is no need to go into detail as a
-separation document should be prepared to explain more in depth
-about the technical skills
-
-If you've taken a look at the battery we gave you, you might notice that it says 3.7V on it. The maximum voltage input for the ESP32 is 3.3V, so we need to find a way to decrease the voltage from the battery, we can do this with a voltage divider.
-
-A voltage divider is a passive linear circuit made up of two resistors, although sometimes more are used to get a specific resistance value.
-
-
-We have given you two 47kΩ resistors, so the output voltage will be 3.7V * 47kΩ/(47kΩ + 47kΩ) = 1.85V.
-
-Notice that our voltage divider halves the input voltage. To combat this division, we will need to remember to multiply our measured voltage by 2 (the reciprocal).
-
-### Components
-
-- Breadboard
-- Battery and Battery Holder
-- Resistors
-- ESP32
-- Jumper Cables
-
-### Instructional
-
-Assemble the circuit as shown in the below image.
-
-Make sure to attach the cathode of the battery to the voltage divider *AND* to the ground pin of the ESP32!
-
-## Part 02: Writing the Code
-
-### Introduction
-
-In this section, we will be discussing the code used to measure the battery's percentage.
-
-### Objective
-
-- Understand the Arduino interface.
-- Understand how to assign pin numbers in Arduino.
-- Understand how to implement functions in Arduino.
-
-### Background Information
-
-This section focuses on coding in the Arduino IDE. The language is very similar to C or C++. If you have any background knowledge in those languages, you will recognize the code and its formatting. If you don't have experience in C/C++, don't worry, we will be breaking down the code into very manageable chunks.
-*Hint: If you don't want to rewrite all the code, use the copy button in the upper right corner of the code blocks!*
-
-### Components
-
-- ESP32 (with the circuit you just built attached)
-- USB-C to USB-C Connector cable for ESP32
-- Your Computer
-
-### Instructional
-
-Another goal of the project is to integrate both hardware and software to create a simple battery indicator system using the ESP32 microcontroller.
-Let's take a dive into the indvidual blocks of code.
-
-```C
-{
- const int batteryPin = 1;
- const float referenceVoltage = 3.3;
- const int resolution = 3950;
- const float voltageDividerRatio = 2.0;
- const float maxBatt = 4.2;
- const float minBatt = 3;
-}
-```
-- `batteryPin` is the analog pin connected to the voltage divider's output
-- `referenceVoltage` is the maximum voltage the ADC can read. (normally it's 3.3V for the ESP32)
-- `resolution` defines the ADC's bit resolution, which determines how anlog voltage is assigned to digital values
-- `voltageDividerRatio` the scaling factor of the voltage divider
-- `maxBatt` and `minBatt` defines the battery's voltage range.
-
-```C
-{
- float readBatteryVoltage() {
- int rawADC = analogRead(?)
- float voltageAtPin = ?
- float batteryVoltage = ?
- return batteryVoltage;
- }
-}
-```
-
-Fill out the code function that calculates the battery voltage.
-- `analogRead` captures the raw ADC value corresponding to the voltage at the ESP32 pin.
-- `voltageAtPin` using the provided code and understanding of the ADC conversion, write the line of code that calculates it.
- - The ADC reading is a fraction of the max resolution.
- - mulitply this fraction by the reference voltage.
-- `batteryVoltage` After finding the voltageAtPin how can we find the actual battery voltage (Hint: remember the scaling factor).
-
-```C
-{
- void setup() {
- Serial.begin(115200);
- pinMode(?);
- }
-}
-```
-
-- `Serial.begin(115200)` sets up communication with the serial monitor for real-time data output.
-- `pinMode` This should configures the ADC pin as an input to read the voltage of the circuit.
-
-```C
-{
- void loop() {
- float batteryVoltage = readBatteryVoltage();
- Serial.print("Battery Voltage: ");
- Serial.print(batteryVoltage);
- Serial.println(" V");
-
- int battPercent = ((batteryVoltage-minBatt)/(maxBatt-minBatt))*100;
- Serial.print("Battery Percentage: ");
- Serial.print(battPercent);
- Serial.println(" %");
-
- delay(10000);
- }
-}
-```
-- The loop continously monitors and outputs the battery's state:
-- `readBatteryVoltage()` gets the current battery voltage
-- `Serial.print` displays the voltage in the serial monitor
-- `battPercent` calculates the battery's percentage
-- `delay(10000)` pauses the loop for 10 seconds
-
-Overall this function should provide us with real-time battery status.
-## Final Circuit Image
-
-
-
-
-Circuit setup should look similar to the image above.
-
-### Arduino Ouput
-
-
-
-Your Arduino output should print this several times (your voltage percentage may differ depending on battery).
-### Analysis
-
-The example uses an ESP32 and a voltage divider to measure a battery's state of charge. This circuit demostrates the core concepts like ADC functionality and Arduino coding. The voltage divder lowers the battery voltage(3.7V to 1.85V) to a safe level for the ESP32 to read. Once the circuit is connected on the breadboard and linked to the ESP32, the Arduino code will adjust for the voltage scaling to calculate and provide an ouput of both the actual voltage and charge percentage. You can see how this employs the concepts of circuit design and programming with the readBatteryVoltage function by converting ADC readings into functional voltage data. The serial monitor should output real-time voltage and it helps validate the system's accuracy.
-
-## Challenge Questions
-
-How would this change if we were using a 4.2V 18650 battery? Would you need to change either of the values of the voltage divider or just the code?
-
-What about a 12V battery?
-
-### Challenge Answers
-
-We would not need to change the voltage divider for a 4.2V battery because 4.2V/2 is 2.1V, which is under the maximum that the board can take in. We would only need to change the minBatt and maxBatt values in the code.
-
-We would need to change the voltage divider for a 12V battery because 12V/2 is 6V, which is nearly double what the board can take in! We could choose R1 = 300kΩ and R2 = 100kΩ to get 1/4 of 12V, or 3V. We would have to change our maxBatt, minBatt, *and VoltageDividerRatio* in the code.
-
-## Additional Resources
-
-### Useful links
-
-[Website that tells the nominal voltage and voltage range of many batteries.](https://www.monolithicpower.com/learning/resources/an-introduction-to-batteries-components-parameters-types-and-chargers)
diff --git a/content/tutorials/Team8Tutorial.md b/content/tutorials/Team8Tutorial.md
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+---
+title: Building a gyroscope using MPU 6000
+date: 2024-12-4
+authors:
+ - name: Jiahao Han
+ - name: Ryan Sevidal
+---
+## Introduction
+
+This tutorial will teach readers how to use the MPU 6000 to measure the x y and z axises to keep upright
+
+### Learning Objectives
+
+- MPU schematics and ways to utilize the chip
+- Schematic making, as well as using KiCad to 3d render
+- Arduino C
+
+### Background Information
+
+The MPU chip is primarily used in drones to keep their orientation stable, in your phones, or even in your controllers if you play on it. So, specifically we are trying to do it for drone purposes. We would first need to create the board creating a schematic, then further it by connecting that to a microcontroller that receives the data.
+
+What we're aiming for
+1. Making sure that our wiring can power the device on.
+2. Provides real-time feedback on where exactly the device is orientated.
+
+
+Key Concepts:
+
+1. Circuit Basics
+2. KiCad Basics
+3. Arduino Basics
+
+## Getting Started
+
+You will receive a MPU 6000 Chip that can connect to Arduino IDE
+
+You will also receive a capacitors, wires, and a LTI1962-3.3 voltage regulators. These will be important and maintaing stable voltage throughout the ciruit.
+
+We will be using the Arduino IDE (Integrated Development Environment). This is a free, open source program that allows users to write code and upload it to boards.
+
+### Required Downloads and Installations
+
+We are going to use KiCad, so if you don't have it installed, click on either KiCad. Now that we have it installed, below is a list of important components.
+
+### Required Components
+
+List your required hardware components and the quantities here.
+
+| Component Name | Quanitity |
+| -------------- | --------- |
+| MPU-6000 module | 1 |
+| LT1962-3.3 voltage regulator | 1 |
+|Capacitor (1µF)| 1 |
+| Capacitor (.01µF) | 1 |
+| Capacitor (10µF)| 1 |
+|Capacitor (20µF) | 1 |
+
+
+### Required Tools and Equipment
+
+Computer, Arduino IDE, KiCad
+
+## Part 01: Setting up the Circuit
+
+### Introduction
+
+In this section, we will be discussing where each part should be wired to.
+The data sheet that is attached is the MPU 6000 [LINK](https://invensense.tdk.com/wp-content/uploads/2015/02/MPU-6000-Datasheet1.pdf).
+
+### Objective
+
+The data sheet provides some insight on what attaches where. You might have noticed that
+The technical skills learned/needed
+in this challenge. There is no need to go into detail as a
+separation document should be prepared to explain more in depth
+about the technical skills.
+
+### Components
+
+| Component Name | Quanitity |
+| -------------- | --------- |
+| MPU-6000 module | 1 |
+| LT1962-3.3 voltage regulator | 1 |
+|Capacitor (1µF)| 1 |
+| Capacitor (.01µF) | 1 |
+| Capacitor (10µF)| 1 |
+|Capacitor (20µF) | 1 |
+
+### Instructional
+
+Assemble the circuit as shown in the below image.
+
+
+After wiring, we need to get it to the PCB editor. Make sure that everything connects together well.
+
+
+Once you have checked the wiring of the PCB, we need to render it into a 3D model. First, we need to apply edge cuts to the circuit. Making a box and clicking 'A' will make those edge cuts. Then go back into F copper, and make sure you set it to ground. After you have filled it in, using a Mac, type both option + 3, then it will have a 3d rendering. Like below
+
+
+After creating the board and printing it. Now we have to get the other parts on it. Including the MPU Chip, make sure to place them in the right orientation for each one. Use the schematic or 3d rendering above to properly place the components.
+
+Make sure to test it with a 3.3V to 5V test to make sure it can connect.
+
+## Part 02: Writing the Code
+
+### Introduction
+
+In this section, we will be discussing the code used to display the orientation it is facing. Printing out values that allign to 0, and axises that range from its max range to its negative max range.
+
+### Objective
+
+- Understand the Arduino interface.
+- Understand how to assign pin numbers in Arduino.
+- Understand how to implement functions in Arduino.
+
+### Background Information
+
+This section focuses on coding in the Arduino IDE. The language is very similar to C or C++. If you have any background knowledge in those languages, you will recognize the code and its formatting. If you don't have experience in C/C++, don't worry, we will be breaking down the code into very manageable chunks.
+*Hint: If you don't want to rewrite all the code, use the copy button in the upper right corner of the code blocks!*
+
+### Components
+
+- ESP32
+- USB-C to USB-C Connector cable for ESP32
+- MPU printed board from part 1
+- Your Computer
+
+### Instructional
+
+Another goal of the project is to integrate both hardware and software to create a system using the ESP32 microcontroller.
+Let's first take a look on what to implent in the code
+
+```C
+{
+ #include
+}
+```
+- `` includes functions in the Wire class
+
+```C
+{
+ float readBatteryVoltage() {
+ int rawADC = analogRead(?)
+ float voltageAtPin = ?
+ float batteryVoltage = ?
+ return batteryVoltage;
+ }
+}
+```
+
+Fill out the code function that calculates the battery voltage.
+- `analogRead` captures the raw ADC value corresponding to the voltage at the ESP32 pin.
+- `voltageAtPin` using the provided code and understanding of the ADC conversion, write the line of code that calculates it.
+ - The ADC reading is a fraction of the max resolution.
+ - mulitply this fraction by the reference voltage.
+- `batteryVoltage` After finding the voltageAtPin how can we find the actual battery voltage (Hint: remember the scaling factor).
+
+
+Overall this function should provide us with readings on orentation for all the axises listed.
+
+### Arduino Ouput
+
+
+Your Arduino output should print this several times (Your output may change with what position it is currently in).
+### Analysis
+
+The example uses an ESP32 and a MPU 6000 to measure orientation of x y and z plane, and also collecting the rotational direction x y and z. This circuit demostrates the core concepts like pin compatability and Arduino coding. The board relays the information to the microcontroller, and process that data to a safe level for the ESP32 to read. Once the circuit is connected on and linked to the ESP32, the Arduino code will measure x y and z plane of orientation, and the rotational direction x y and z scalars to calculate and provide an ouput of both the orientation and rotational directions. You can see how this employs the concepts of circuit design and programming with the writing and reading before converting it to data to output back to the Serial monitor.
+
+## Challenge Questions
+
+
+
+### Challenge Answers
+
+
+
+## Additional Resources
+
+### Useful links
+