71 lines
1.4 KiB
C++
71 lines
1.4 KiB
C++
// ESP32 Dev Module
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#include "Wire.h"
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#include "MPU6050.h"
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#include <OSCBoards.h>
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#include <OSCMessage.h>
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/*
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Make an OSC message and send it over serial
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*/
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#ifdef BOARD_HAS_USB_SERIAL
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#include <SLIPEncodedUSBSerial.h>
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SLIPEncodedUSBSerial SLIPSerial( thisBoardsSerialUSB );
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#else
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#include <SLIPEncodedSerial.h>
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SLIPEncodedSerial SLIPSerial(Serial); // Change to Serial1 or Serial2 etc. for boards with multiple serial ports that don’t have Serial
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#endif
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/*
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#include <BluetoothSerial.h>
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#if !defined(CONFIG_BT_ENABLED) || !defined(CONFIG_BLUEDROID_ENABLED)
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#error Bluetooth is not enabled! Please run `make menuconfig` to and enable it
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#endif
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BluetoothSerial SerialBT;
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*/
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MPU6050 mpu;
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// Sem dobimo vrednosti
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int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;
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void setup() {
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Wire.begin();
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SLIPSerial.begin(115200); // set this as high as you can reliably run on your platform
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mpu.initialize();
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// setFullScaleGyroRange(MPU6050_GYRO_FS_250);
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// setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
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/*
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SerialBT.begin("MotionGlove");
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*/
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}
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void loop() {
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mpu.getMotion6(&AcX, &AcY, &AcZ, &GyX, &GyY, &GyZ);
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OSCMessage msg("/accel/");
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msg.add(AcX);
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msg.add(AcY);
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msg.add(AcZ);
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SLIPSerial.beginPacket();
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msg.send(SLIPSerial);
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SLIPSerial.endPacket();
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msg.empty();
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OSCMessage gmsg("/gyro/");
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gmsg.add(GyX);
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gmsg.add(GyY);
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gmsg.add(GyZ);
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SLIPSerial.beginPacket();
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gmsg.send(SLIPSerial);
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SLIPSerial.endPacket();
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gmsg.empty();
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}
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