newbie No experience at all !!! GY-521 sensor

Kim D · July 30, 2020

Dear,
I try to restore a friends machine, that drives over un-level ground and need to hold a vertical device always perfectly vertical using 1x 12VDC motor.
Stabilization is done on 1 axis. Not 2 I believe.
His former old friend build a Arduino Uno board with on top a DUALCHANNEL H-BRIDGE motor shield from ELECROW.COM and
on top of that board a prototype shield v.5 board containing a GY-521 sensor ( MPU 6050 I believe).

We managed to get his old code back via relatives of his former friend who look like this :

#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
#include "PID_v1.h"
// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
// is used in I2Cdev.h
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
#include "Wire.h"
#endif

MPU6050 mpu;

// MPU control/status vars
bool dmpReady = false; // set true if DMP init was successful
uint8_t mpuIntStatus;   // holds actual interrupt status byte from MPU
uint8_t devStatus;      // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize;    // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount;     // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer

// orientation/motion vars
Quaternion q;           // [w, x, y, z]         quaternion container
VectorFloat gravity;    // [x, y, z]            gravity vector
float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector

// PID
double kp = 20, ki = 0, kd = 0;
double Setpoint = 0; // leveled
double Input = 0, Output = 0;
PID PID1(&Input, &Output, &Setpoint, kp, ki, kd, DIRECT);

// ================================================================
// === INTERRUPT DETECTION ROUTINE ===
// ================================================================

volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
void dmpDataReady() {
mpuInterrupt = true;
}

void setup() {
// join I2C bus (I2Cdev library doesn't do this automatically)
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
Wire.begin();
TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz)
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
Fastwire::setup(400, true);
#endif

// initialize serial communication
Serial.begin(115200);

// initialize DMP
devStatus = mpu.dmpInitialize();

// Offsets for calibrating
mpu.setXGyroOffset(220);
mpu.setYGyroOffset(76);
mpu.setZGyroOffset(-85);
mpu.setZAccelOffset(1788); // 1688 factory default

// make sure it worked (returns 0 if so)
if (devStatus == 0) {
    // turn on the DMP, now that it's ready
    Serial.println(F("Enabling DMP..."));
    mpu.setDMPEnabled(true);

    // enable Arduino interrupt detection
    Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
    attachInterrupt(0, dmpDataReady, RISING);
    mpuIntStatus = mpu.getIntStatus();

    // set our DMP Ready flag so the main loop() function knows it's okay to use it
    Serial.println(F("DMP ready! Waiting for first interrupt..."));
    dmpReady = true;

    // get expected DMP packet size for later comparison
    packetSize = mpu.dmpGetFIFOPacketSize();
} else {
    // ERROR!
    // 1 = initial memory load failed
    // 2 = DMP configuration updates failed
    // (if it's going to break, usually the code will be 1)
    Serial.print(F("DMP Initialization failed (code "));
    Serial.print(devStatus);
    Serial.println(F(")"));
}

// Motor_1 controll pin initiate;
pinMode(4, OUTPUT);
pinMode(5, OUTPUT);
pinMode(9, OUTPUT); // Speed control

//Enable the Motor Shield output;
pinMode(6, OUTPUT);
digitalWrite(6, HIGH);

//PID initiate
PID1.SetMode(AUTOMATIC);
PID1.SetSampleTime(1);
PID1.SetOutputLimits(-255, 255);
}

void loop() {
//If programming failed, don't try to do anything
if (!dmpReady) return;

// wait for MPU interrupt or extra packet(s) available
while (!mpuInterrupt && fifoCount < packetSize) {
    // other program behavior stuff here
    // .
    // .
    // .
    // if you are really paranoid you can frequently test in between other
    // stuff to see if mpuInterrupt is true, and if so, "break;" from the
    // while() loop to immediately process the MPU data
    // .
    // .
    // .
}
// reset interrupt flag and get INT_STATUS byte
mpuInterrupt = false;
mpuIntStatus = mpu.getIntStatus();

// get current FIFO count
fifoCount = mpu.getFIFOCount();

// check for overflow (this should never happen unless our code is too inefficient)
if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
    // reset so we can continue cleanly
    mpu.resetFIFO();
    Serial.println(F("FIFO overflow!"));

    // otherwise, check for DMP data ready interrupt (this should happen frequently)
} else if (mpuIntStatus & 0x02) {
    // wait for correct available data length, should be a VERY short wait
    while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();

// read a packet from FIFO
mpu.getFIFOBytes(fifoBuffer, packetSize);

    // track FIFO count here in case there is > 1 packet available
    // (this lets us immediately read more without waiting for an interrupt)
    fifoCount -= packetSize;

    mpu.dmpGetQuaternion(&q, fifoBuffer);
    mpu.dmpGetGravity(&gravity, &q);
    mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);

Input = ypr[2] * 180 / M_PI;
PID1.Compute();

//Output to motor shield
control_motor(Output);

    //Display Euler angles in degrees
    Serial.print("ypro\t");
    Serial.print(ypr[0] * 180 / M_PI);
    Serial.print("\t");
    Serial.print(ypr[1] * 180 / M_PI);
    Serial.print("\t");
    Serial.print(ypr[2] * 180 / M_PI);
    Serial.print("\t");
    Serial.println(Output);
}
}

void control_motor(double pwm_value) {
int pwm = round(pwm_value);
if (pwm < -255) pwm = -255;
if (pwm > 255) pwm = 255;

if (pwm > 0) {
    //Set the motor direction CW
    digitalWrite(4, LOW);
    digitalWrite(5, HIGH);
    analogWrite(9, pwm);                                               //Set the motor speed
}
else {
    //Set the motor direction CCW
    digitalWrite(4, HIGH);
    digitalWrite(5, LOW);
    analogWrite(9, pwm);
}
}

But once I connect my arduino uno board and launch the program I get this error message:

Arduino: 1.8.13 (Windows 7), Board:"Arduino Uno"

V2:1:10: fatal error: I2Cdev.h: No such file or directory

#include "I2Cdev.h"

^~~~~~~~~~

compilation terminated.

exit status 1

I2Cdev.h: No such file or directory

ZIP file does not contain a map or valid library

What do I need to do?

Thanks for any help. Very welcome when you don't have any arduino experiences !!!

Kind regards,