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#include "Arduino.h"
#include "Wire.h"
#include "sensor.hpp"
Sensor sensor(0x68, &Wire);
void setup()
{
Serial.begin(9600);
// Wait for Serial because the Arduino Leonardo is weird
while (!Serial) {}
while (!sensor.begin())
{
Serial.print(millis());
Serial.println("Error: Could not connect to the sensor. Retrying after 2000 milliseconds...");
delay(2000);
}
sensor.setAccelSensitivity(2); // 8g
sensor.setGyroSensitivity(1); // 500 degrees/s
sensor.setThrottleEnabled(true);
Serial.println("start...");
// Calibration values
sensor.accel_cal_x = 0.198;
sensor.accel_cal_y = -0.018;
sensor.gyro_cal_x = 0.780;
sensor.gyro_cal_y = -1.495;
}
void loop()
{
sensor.read();
float pitch = sensor.getPitch();
float roll = sensor.getRoll();
Serial.print("Pitch: ");
Serial.print(pitch, 3);
Serial.print(" Roll: ");
Serial.print(roll, 3);
Serial.println();
}
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