From 42034ab9e80e97d6d3bdeda9bbc373d0fce37445 Mon Sep 17 00:00:00 2001
From: Stedd <toanpa+git@pm.me>
Date: Thu, 19 Oct 2023 20:43:01 +0200
Subject: [PATCH] this is not working

---
 Main/IMU.ino  | 14 +++++++-------
 Main/Main.ino | 10 +++++-----
 Main/plot.ino |  4 ++--
 3 files changed, 14 insertions(+), 14 deletions(-)

diff --git a/Main/IMU.ino b/Main/IMU.ino
index e75255d..475b5e8 100644
--- a/Main/IMU.ino
+++ b/Main/IMU.ino
@@ -31,15 +31,15 @@ void readIMU() {
   cz = IMU.compass_z(compassReadings);
 
 
-  //  Gyrocope
-  float* gyroReadings = IMU.readGyro();
-  gx = convertInt(IMU.gyro_x(gyroReadings), gyro_overflow_value);  //  gx -  Pitch rate
-  gy = convertInt(IMU.gyro_y(gyroReadings), gyro_overflow_value);  //  gy -  Roll rate
-  gz = convertInt(IMU.gyro_z(gyroReadings), gyro_overflow_value);  //  gz -  Yaw rate
+  // //  Gyrocope
+  // float* gyroReadings = IMU.readGyro();
+  // gx = convertInt(IMU.gyro_x(gyroReadings), gyro_overflow_value);  //  gx -  Pitch rate
+  // gy = convertInt(IMU.gyro_y(gyroReadings), gyro_overflow_value);  //  gy -  Roll rate
+  // gz = convertInt(IMU.gyro_z(gyroReadings), gyro_overflow_value);  //  gz -  Yaw rate
 
 
-  //Temperature sensor
-  gt = IMU.temp(gyroReadings);
+  // //Temperature sensor
+  // gt = IMU.temp(gyroReadings);
 
 
   // Pitch angle from accelerometer
diff --git a/Main/Main.ino b/Main/Main.ino
index adb3cef..66637f6 100644
--- a/Main/Main.ino
+++ b/Main/Main.ino
@@ -18,8 +18,8 @@ const byte M1_A = 16;
 const byte M1_B = 17;
 const byte M2_A = 18;
 const byte M2_B = 19;
-const byte IMU_I2C_SCL = 26;
-const byte IMU_I2C_SDA = 27;
+const int IMU_I2C_SCL = 26;
+const int IMU_I2C_SDA = 27;
 
 
 //Time variables
@@ -49,12 +49,12 @@ void setup() {
   delay(10);
 
   //Initialice I2C
-  //Wire.begin(IMU_I2C_SCL, IMU_I2C_SDA);
+  Wire.setPins(IMU_I2C_SCL, IMU_I2C_SDA);
   //delay(10);
 
   //Initialize IMU
   Serial.println("Before IMU init");
-  IMU.init(IMU_I2C_SCL, IMU_I2C_SDA);
+  IMU.init();
   //IMU.init();
   Serial.println("After IMU init");
   delay(10);
@@ -95,7 +95,7 @@ void loop() {
 
 
   //Get sensor data
-  //readIMU();
+  readIMU();
 
 
   //Control motors
diff --git a/Main/plot.ino b/Main/plot.ino
index 7a9c157..64664cf 100644
--- a/Main/plot.ino
+++ b/Main/plot.ino
@@ -8,8 +8,8 @@ void plot() {
   // Serial.print(" ");
 
   // IMU
-  // Serial.print  ( "Pitch:" );
-  // Serial.println  ( pitch );
+  Serial.print  ( "Pitch:" );
+  Serial.println  ( pitch );
   // Serial.print  (" ");
   // Serial.print  ( "Accelerometer_Pitch:" );
   // Serial.print  ( acc_pitch );