Merge remote-tracking branch 'origin/dev' into dev

arduino/calibration_data

@@ -0,0 +1,5 @@
+center: 17100   750     -1500
+fwd:            -5000                 
+aft:            5000
+left:                   -6000
+right:                  3500

arduino/calibration_data.txt

@@ -0,0 +1,5 @@
+center: 17100   750     -1500
+fwd:            -5000                 
+aft:            5000
+left:                   -6000
+right:                  3500

arduino/src/gyroboard_v2.ino

@@ -0,0 +1,68 @@
+// (c) Michael Schoeffler 2017, http://www.mschoeffler.de
+
+#include "Wire.h" // This library allows you to communicate with I2C devices.
+
+//-----------------bluetooth----------------------
+#include <SoftwareSerial.h>
+SoftwareSerial BTserial(10, 11); // RX | TX
+//-----------------bluetooth----------------------
+
+const int MPU_ADDR = 0x68; // I2C address of the MPU-6050. If AD0 pin is set to HIGH, the I2C address will be 0x69.
+const int NUM_OF_VARS = 3;
+
+int16_t accelerometer_x, accelerometer_y, accelerometer_z; // variables for accelerometer raw data
+
+char tmp_str[7]; // temporary variable used in convert function
+
+char* convert_int16_to_str(int16_t i) { // converts int16 to string. Moreover, resulting strings will have the same length in the debug monitor.
+  sprintf(tmp_str, "%6d", i);
+  return tmp_str;
+}
+
+void setup() {
+  Serial.begin(9600);
+  Wire.begin();
+  Wire.beginTransmission(MPU_ADDR); // Begins a transmission to the I2C slave (GY-521 board)
+  Wire.write(0x6B); // PWR_MGMT_1 register
+  Wire.write(0); // set to zero (wakes up the MPU-6050)
+  Wire.endTransmission(true);
+
+  //-----------------bluetooth----------------------
+  BTserial.begin(9600);
+  //-----------------bluetooth----------------------
+}
+void loop() {
+  Wire.beginTransmission(MPU_ADDR);
+  Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H) [MPU-6000 and MPU-6050 Register Map and Descriptions Revision 4.2, p.40]
+  Wire.endTransmission(false); // the parameter indicates that the Arduino will send a restart. As a result, the connection is kept active.
+  Wire.requestFrom(MPU_ADDR, NUM_OF_VARS * 2, true); // request a total of 7*2=14 registers
+
+  // "Wire.read()<<8 | Wire.read();" means two registers are read and stored in the same variable
+  accelerometer_x = Wire.read()<<8 | Wire.read(); // reading registers: 0x3B (ACCEL_XOUT_H) and 0x3C (ACCEL_XOUT_L)
+  accelerometer_y = Wire.read()<<8 | Wire.read(); // reading registers: 0x3D (ACCEL_YOUT_H) and 0x3E (ACCEL_YOUT_L)
+  accelerometer_z = Wire.read()<<8 | Wire.read(); // reading registers: 0x3F (ACCEL_ZOUT_H) and 0x40 (ACCEL_ZOUT_L)
+
+  // print out data
+  Serial.print("aX = "); Serial.print(convert_int16_to_str(accelerometer_x));
+  Serial.print(" | aY = "); Serial.print(convert_int16_to_str(accelerometer_y));
+  Serial.print(" | aZ = "); Serial.print(convert_int16_to_str(accelerometer_z));
+
+  Serial.println();
+
+
+  //-----------------bluetooth----------------------
+  BTserial.print(convert_int16_to_str(accelerometer_x));
+  BTserial.print(",");
+  BTserial.print(convert_int16_to_str(accelerometer_y));
+  BTserial.print(",");
+  BTserial.print(convert_int16_to_str(accelerometer_z));
+  BTserial.print(";");
+  //-----------------bluetooth----------------------
+
+  /* if(Serial.available()){
+    Serial.print("chicka is best girl");
+  } */
+
+  // delay
+  delay(20);
+}