Real – Time Planet Tracking System & Trajectory Prediction (Self adjusting pan mechanism [MPU-9250]){RTPT} with Arduino and GPS


I might have to wire up my telescope with this, using my LinkIt one.



This project aims to make a system that effectively track celestial bodys (such as planets ) with a fair amount of accuracy.We will be using some algorithms along with a processing unit for the calculations and a servo mechanism to show the location of the planet physically!.The hardware used in the project is pretty much basic and simple because the primary focus of this project is on the software that is to make people understand about the algorithms and their implementations.So please bear with my “un-formatted” hardware.

Not just planet tracking you will learn some additional important things that you can implement in your other projects :

  1. Planet tracking using keplers algorithms
  2. Many co-ordinate systems and their interconversion
  3. pan-tilt programming and servo mapping (3.5 turns Servo and 180 degree Servo )
  4. MPU9250 auto-calibration programming
  5. Using Madwicks/Mahony Filter to Stablise Mpu readings.
  6. Yaw correction using P- controller with MPU9250


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MKR1000 AP notes



I participated in a contest to receive a MKR1000 (read it out loud, MaKeR 1000), and they liked my idea! Woot, more things to play with. I did some investigating and now I’m doing a quick write up regarding mores on the Arduino 101/MKR1000’s soft AP so you don’t have to learn what I have the long way.

WiFi Access Point?!?!

Yes, it shows up as an access point, not a peer-to-peer point. When my phone connected to it, I ran a scan from Fing ( to see what I was up against.


As you can see, everything looks good from here. The MKR1000 lives at .1, and any connected device is .100 by default. That is correct, only ONE device can successfully be connected at any given point. I think this is due to some code where the wifi is not fully capable of handling the IP addresses (like a proper DHCP server). I’ve been trying to tap into the DHCP or DNS server on the board, and I haven’t found anything yet, and this makes me think that the board has a hard-coded string to spit out to any device. “This is my SSID and info” and when connecting “this is your connection info” and these do not change, except the SSID. No password support as of this post.


It makes a proper access point! Sweet! Only one device can connect to it at a time though, and that device lives at .100. Understand these restrictions and you’re good to go! I’m still going to be working for a while on trying to redirect any website queries to the MKR1000’s web page for easier admin.


  • The source for the code I used as framework is:
  • The wifi chip in the MKR1000 and 101 are the same, so code is cross compatible.
  • I still have yet to find a battery library to query charging state or battery level. I love the LinkIt ONE for having that.
  • The power draw of the board itself has been said to be around 20ma. I can confirm it is about that, although with the wifi on, the board warms up. I haven’t done load tests on power usage under wifi.
  • I will have to do range tests with my Pringles Cantenna.

I2C Bus Splitting with a more Professional Touch


This is certainly more robust, although not as quick. I think the stability is better in the long run with this than the prior write up with the shift register.


Last week, I covered some of the bitter details of an interesting hack that lets us split up the I²C clock line into multiple outputs with a demultiplexer, effectively giving us “Chip Selects” for devices with the same address.

This week, I figured it’d be best to layout a slightly more practical method for solving the same problem of talking to I²C devices that each have the same address.

I actually had a great collection of comments mention the same family of chips I’m using to tackle this issue, and I’m glad that we’re jumping off the same lead as we explore the design space.

Recalling the Work of Our Predecessors

Before figuring out a clever way of hacking together our own solution, it’s best to see if someone before us has already gone through all of the trouble to solve that problem. In this case–we’re in luck–so much that the…

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I2C Hacks: How to Splice Clocks into Chip-Selects


An interesting way to get around only having one I2C address. I will have to try this out. Thanks @hackaday!


There comes a time when you need to wire up three, four, or more identical i2c devices to a common microcontroller. Maybe you’re thinking about driving a whopping 32 seven-segment displays with four of those MAX7219CNG 8-way digit drivers, or maybe you have a robot full of joints–each of which needs a BNO055 inertial sensor for angle estimation. (See above.) Crikey! In both of those cases, you’re best bet might be a schnazzy I²C device that can do most of the work for you. The problem? With a single I²C bus, there’s no standard way defined in the protocol for connecting two or more devices with the same address. Shoot! It would’ve been handy to wire up three BNO055 IMUs or four MAX7219CNGs and call it a day. Luckily, there’s a workaround.

We’ve seen some clever tricks in the past for solving this problem. [Marv G‘s] method involves toggling between…

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