Controlling Servo Motor With MPU6050 Gyro Sensor Using ESP32 Beginners Projects

 

Controlling Servo With MPU6050 Gyro Sensor Using ESP32 - Servo Control Using ESP32

MPU6050 measures accelerometer + gyroscope. Code calculates pitch from accelerometer (X tilt). The pitch (range -90° to +90°) is mapped to servo angles (0°–180°). The servo on GPIO 13 moves according to tilt.

📌 Wiring:-

MPU6050 → ESP32

VCC → 3.3V

GND → GND

SDA → GPIO 21 (default I²C SDA on ESP32)

SCL → GPIO 22 (default I²C SCL on ESP32)

Servo → ESP32

Signal (orange/yellow) → GPIO 13

VCC (red) → 5V (use external supply if possible, not directly from ESP32)

GND (black/brown) → GND (common ground with ESP32 & MPU6050)

⚠️ Important: Servos draw a lot of current → use an external 5V supply for the servo, not just the ESP32’s 5V pin.

Full Code:- 

#include <Wire.h>

#include <Adafruit_MPU6050.h>

#include <Adafruit_Sensor.h>

#include <ESP32Servo.h>

Adafruit_MPU6050 mpu;

Servo myServo;

int servoPin = 13;  // PWM pin for servo

void setup() {

  Serial.begin(115200);

  // Initialize MPU6050

  if (!mpu.begin()) {

    Serial.println("Failed to find MPU6050 chip");

    while (1) {

      delay(10);

    }

  }

  Serial.println("MPU6050 Found!");

  mpu.setAccelerometerRange(MPU6050_RANGE_8_G);

  mpu.setGyroRange(MPU6050_RANGE_500_DEG);

  mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);

  delay(100);

  // Attach servo

  myServo.attach(servoPin);

}

void loop() {

  sensors_event_t a, g, temp;

  mpu.getEvent(&a, &g, &temp);

  // Calculate pitch angle from accelerometer

  float pitch = atan2(a.acceleration.y, a.acceleration.z) * 180 / PI;

  // Map pitch (-90 to 90) → servo (0 to 180)

  int servoAngle = map(pitch, -90, 90, 0, 180);

  // Constrain to avoid errors

  servoAngle = constrain(servoAngle, 0, 180);

  myServo.write(servoAngle);

  Serial.print("Pitch: ");

  Serial.print(pitch);

  Serial.print("°  →  Servo: ");

  Serial.println(servoAngle);

  delay(20); // Small delay for smooth motion

}

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