void SimpleMPU6050::initializeInstance()
{
/* Part of "void setup()" in a general Arduino sketch */
uint8_t c;
Wire.begin(); // Initialize the 'Wire' class for the I2C-bus.
MPU6050_write_reg (MPU6050_PWR_MGMT_1, 0); // Clear the 'sleep' bit to start the sensor.
}
uint8_t AccelGyro::init() {
Wire.setModule(0);
Wire.begin();
uint8_t c;
uint8_t error;
Serial1.println("Reading who I am bit");
error = MPU6050_read(MPU6050_WHO_AM_I, &c, 1);
Serial1.print("Success. I am : ");
Serial1.println(c, HEX);
// Clear the 'sleep' bit to start the sensor.
MPU6050_write_reg (MPU6050_PWR_MGMT_1, 0);
Serial1.println("Sensor started!");
return error;
}
void setup() {
Serial.begin(9600);
esc.attach(ESC_PIN);
esc2.attach(ESC_PIN2);
esc3.attach(ESC_PIN3);
esc4.attach(ESC_PIN4);
int error;
uint8_t c;
Wire.begin();
error = MPU6050_read(MPU6050_WHO_AM_I, &c, 1);
error = MPU6050_read(MPU6050_PWR_MGMT_1, &c, 1);
MPU6050_write_reg(MPU6050_PWR_MGMT_1, 0);
}
void AccelReading::Initialize(){
int error;
uint8_t c;
//pinMode(led1, OUTPUT);
//pinMode(led2, OUTPUT);
Serial.begin(9600);
Serial.println(F("InvenSense MPU-6050"));
Serial.println(F("June 2012"));
// Initialize the 'Wire' class for the I2C-bus.
Wire.begin();
// default at power-up:
// Gyro at 250 degrees second
// Acceleration at 2g
// Clock source at internal 8MHz
// The device is in sleep mode.
//
error = MPU6050_read (MPU6050_WHO_AM_I, &c, 1);
Serial.print(F("WHO_AM_I : "));
Serial.print(c,HEX);
Serial.print(F(", error = "));
Serial.println(error,DEC);
// According to the datasheet, the 'sleep' bit
// should read a '1'.
// That bit has to be cleared, since the sensor
// is in sleep mode at power-up.
error = MPU6050_read (MPU6050_PWR_MGMT_1, &c, 1);
Serial.print(F("PWR_MGMT_1 : "));
Serial.print(c,HEX);
Serial.print(F(", error = "));
Serial.println(error,DEC);
// initialize all the readings to 0:
for (int thisReading = 0; thisReading < numReadings; thisReading++)
{
accelx[thisReading] = 0;
accely[thisReading] = 0;
accelz[thisReading] = 0;
}
// Clear the 'sleep' bit to start the sensor.
MPU6050_write_reg (MPU6050_PWR_MGMT_1, 0);
}
