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BalanceBot
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this is not working

This commit is contained in:
Stedd 2023-10-19 20:43:01 +02:00
parent 72716f2abd
commit 42034ab9e8
3 changed files with 14 additions and 14 deletions
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14
Main/IMU.ino
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@ -31,15 +31,15 @@ void readIMU() {
cz = IMU.compass_z(compassReadings); cz = IMU.compass_z(compassReadings);
// Gyrocope // // Gyrocope
float* gyroReadings = IMU.readGyro(); // float* gyroReadings = IMU.readGyro();
gx = convertInt(IMU.gyro_x(gyroReadings), gyro_overflow_value); // gx - Pitch rate // gx = convertInt(IMU.gyro_x(gyroReadings), gyro_overflow_value); // gx - Pitch rate
gy = convertInt(IMU.gyro_y(gyroReadings), gyro_overflow_value); // gy - Roll 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 // gz = convertInt(IMU.gyro_z(gyroReadings), gyro_overflow_value); // gz - Yaw rate
//Temperature sensor // //Temperature sensor
gt = IMU.temp(gyroReadings); // gt = IMU.temp(gyroReadings);
// Pitch angle from accelerometer // Pitch angle from accelerometer

10
Main/Main.ino
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@ -18,8 +18,8 @@ const byte M1_A = 16;
const byte M1_B = 17; const byte M1_B = 17;
const byte M2_A = 18; const byte M2_A = 18;
const byte M2_B = 19; const byte M2_B = 19;
const byte IMU_I2C_SCL = 26; const int IMU_I2C_SCL = 26;
const byte IMU_I2C_SDA = 27; const int IMU_I2C_SDA = 27;
//Time variables //Time variables
@ -49,12 +49,12 @@ void setup() {
delay(10); delay(10);
//Initialice I2C //Initialice I2C
//Wire.begin(IMU_I2C_SCL, IMU_I2C_SDA); Wire.setPins(IMU_I2C_SCL, IMU_I2C_SDA);
//delay(10); //delay(10);
//Initialize IMU //Initialize IMU
Serial.println("Before IMU init"); Serial.println("Before IMU init");
IMU.init(IMU_I2C_SCL, IMU_I2C_SDA); IMU.init();
//IMU.init(); //IMU.init();
Serial.println("After IMU init"); Serial.println("After IMU init");
delay(10); delay(10);
@ -95,7 +95,7 @@ void loop() {
//Get sensor data //Get sensor data
//readIMU(); readIMU();
//Control motors //Control motors

4
Main/plot.ino
View File

@ -8,8 +8,8 @@ void plot() {
// Serial.print(" "); // Serial.print(" ");
// IMU // IMU
// Serial.print ( "Pitch:" ); Serial.print ( "Pitch:" );
// Serial.println ( pitch ); Serial.println ( pitch );
// Serial.print (" "); // Serial.print (" ");
// Serial.print ( "Accelerometer_Pitch:" ); // Serial.print ( "Accelerometer_Pitch:" );
// Serial.print ( acc_pitch ); // Serial.print ( acc_pitch );