Pico Horizon

A demonstration project showing how to keep a level horizontal platform using a GY91 9DoF sensor, a servo and Raspberry Pi Pico running MicroPython.

MicroPython Install

For installing MicroPython onto a Pico see...

• Raspberry Pi docs
• or, MicroPython docs

Install this Demo

Clone this and IMU repo

$ git clone https://github.com/tgu-ltd/pico-horizon.git
$ cd pico-horizon
$ git clone https://github.com/tuupola/micropython-mpu9250.git

Create a virtual environment and install rshell

$ pipenv install
$ pipenv shell
$ pip install rshell

Upload files to the Pico

$ rshell -p /dev/ttyACM0 --baud 115200 -f ./upload_files.rshell

Start the program

$ minicom -o -D /dev/ttyACM0 # And press Ctrl-D

Demo video

There is a Youtube video of this working.

Pinout

                     --------------
                     | Pi Pico    |
                     |------------|
                     |  Pin . GP  |
--------------       |      .     |
|        3v3-|-------|- 36  . n/a |
| GY91   Gnd-|-------|- 38  . n/a |
|  IMU   SCL-|-------|-  2  . 2   |
|        SDA-|-------|-  1  . 0   |
--------------       |      .     |
                     |      .     |
--------------       |      .     |
|         5v-|-------|- 40  . n/a |
|  SG90  Gnd-|-------|- 18  . n/a |
|  Servo PWM-|-------|- 17  . 13  |
--------------       --------------

AK8963 Note

A dud AK8963 class is used in this code to bypass any AK8963 errors