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#include "Arduino.h"
#include "Wire.h"
#include "sensor.hpp"
Sensor sensor(0x68, &Wire);
/**
* Stops code execution.
*/
void stop()
{
while (true) {}
}
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("Automatically calibrating sensor...");
bool cal_status = sensor.autoCalibrate();
if (!cal_status)
{
Serial.print("Error: Automatic calibration timed out after ");
Serial.print(CALIBRATION_TIMEOUT);
Serial.println(" milliseconds");
stop();
}
Serial.println("Finished calibrating");
Serial.println("Starting...");
}
void loop()
{
if (!sensor.is_calibrated)
{
return;
}
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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