Hardware Development and Scale-up of Angular Motion Systems Using BNO055 Sensor and ESP32-WROOM-32 Microcontroller to Measure the Speed of Angular Motion Systems

In systems that scan circular areas during movement, gyroscopes, tachometers, and encoders are commonly used to measure movement speed. In this study, the BNO055 sensor, which includes a magnetometer, gyroscope, and accelerometer, was used to measure angular motion. Gyroscope and accelerometer data from the sensor were utilized to measure angular velocity, and an ESP32-WROOM-32 microcontroller was selected for data processing. The components were mounted on a custom-designed PCB. The electronic measurement device was fixed to a rotating system using suction cups, and the system’s instantaneous linear velocity at specific points was calculated. To allow use in various systems with circular motion, the distance between the sensor and the center of rotation was manually measured and transmitted to the system via Bluetooth. The suction cup mounting of the sensor facilitated ease of use. Additionally, the PCB was equipped with RS485 communication, enabling data transfer to the mainboard. The ESP32-WROOM-32E on the mainboard, with its WiFi connectivity, allows sensor data to be uploaded to a server via the internet. Thus, an angular velocity and angle measurement system suitable for various applications was developed.