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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);
// 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

10
Main/Main.ino
View File

@ -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

4
Main/plot.ino
View File

@ -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 );