#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE #include "Wire.h"

#endif

#define MIN_ABS_SPEED 10

MPU6050 mpu;

// MPU control/status varsbool dmpReady = false; // set true if DMP init was successfuluint8_t mpuIntStatus; // holds actual interrupt status byte from MPUuint8_t devStatus; // return status after each device operation (0 = success, !0 = error)uint16_t packetSize; // expected DMP packet size (default is 42 bytes)uint16_t fifoCount; // count of all bytes currently in FIFOuint8_t fifoBuffer[64]; // FIFO storage buffer

// orientation/motion varsQuaternion q; // [w, x, y, z] quaternion containerVectorFloat gravity; // [x, y, z] gravity vectorfloat ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector

//PIDdouble originalSetpoint = 173;double setpoint = originalSetpoint;double movingAngleOffset = 0.1;double input, output;

//adjust these values to fit your own designdouble Kp = 150; //too little KP will make robot fall double Kd = 20; //to decrease the oscillationdouble Ki = 270;PID pid(&input, &output, &setpoint, Kp, Ki, Kd, DIRECT);

double motorSpeedFactorLeft = 0.5;double motorSpeedFactorRight = 0.5;

//MOTOR CONTROLLERint ENA = 3;int IN1 = 4;int IN2 = 6;int IN3 = 7;int IN4 = 8;int ENB = 5;LMotorController motorController(ENA, IN1, IN2, ENB, IN3, IN4, motorSpeedFactorLeft, motorSpeedFactorRight);

volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone highvoid dmpDataReady(){ mpuInterrupt = true;}

void setup(){ // join I2C bus (I2Cdev library doesn't do this automatically) #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE Wire.begin();TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz) #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE Fastwire::setup(200, true); #endif

mpu.initialize();

devStatus = mpu.dmpInitialize();

// supply your own gyro offsets here, scaled for min sensitivity mpu.setXGyroOffset(220); mpu.setYGyroOffset(76); mpu.setZGyroOffset(-85); mpu.setZAccelOffset(1788); // 1688 factory default for my test chip

// make sure it worked (returns 0 if so) if (devStatus == 0) { // turn on the DMP, now that it's ready mpu.setDMPEnabled(true);

// enable Arduino interrupt detection attachInterrupt(0, dmpDataReady, RISING); mpuIntStatus = mpu.getIntStatus();

// set our DMP Ready flag so the main loop() function knows it's okay to use it dmpReady = true;

// get expected DMP packet size for later comparison packetSize = mpu.dmpGetFIFOPacketSize();

//setup PID pid.SetMode(AUTOMATIC); pid.SetSampleTime(10); pid.SetOutputLimits(-255, 255); } else { // ERROR! // 1 = initial memory load failed // 2 = DMP configuration updates failed // (if it's going to break, usually the code will be 1) Serial.print(F("DMP Initialization failed (code ")); Serial.print(devStatus); Serial.println(F(")")); }}

void loop(){ // if programming failed, don't try to do anything if (!dmpReady) return;

// wait for MPU interrupt or extra packet(s) available while (!mpuInterrupt && fifoCount < packetSize) { //no mpu data - performing PID calculations and output to motors pid.Compute(); motorController.move(output, MIN_ABS_SPEED);

}

// reset interrupt flag and get INT_STATUS byte mpuInterrupt = false; mpuIntStatus = mpu.getIntStatus();

// get current FIFO count fifoCount = mpu.getFIFOCount();

// check for overflow (this should never happen unless our code is too inefficient) if ((mpuIntStatus & 0x10) || fifoCount == 1024) { // reset so we can continue cleanly mpu.resetFIFO(); Serial.println(F("FIFO overflow!"));

// otherwise, check for DMP data ready interrupt (this should happen frequently) } else if (mpuIntStatus & 0x02) { // wait for correct available data length, should be a VERY short wait while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();

// read a packet from FIFO mpu.getFIFOBytes(fifoBuffer, packetSize);

// track FIFO count here in case there is > 1 packet available // (this lets us immediately read more without waiting for an interrupt) fifoCount -= packetSize;

mpu.dmpGetQuaternion(&q, fifoBuffer); mpu.dmpGetGravity(&gravity, &q); mpu.dmpGetYawPitchRoll(ypr, &q, &gravity); input = ypr[1] * 180/M_PI + 180; }}