code docs

docs/week_1_fabacademy/drone_code.md

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+# Coding the drone
+
+## Issues
+
+
+### Using the wrong libary
+First used the wrong library I used the adafruit bno0xx library instead of the sparkfun bno08x library 
+??? failure
+```cpp
+#include "conf.h"
+#include <Adafruit_BNO08x.h>
+#include <sh2.h>
+#include <sh2_SensorValue.h>
+#include <sh2_err.h>
+#include <sh2_hal.h>
+#include <sh2_util.h>
+#include <shtp.h>
+
+Adafruit_BNO08x bno08x(BNOINTERRUPTSIG);
+sh2_SensorValue_t sensorValue;
+
+void setup() {
+  Serial.begin(9600);
+  Serial.println("setup started");
+  // Setup all ESC
+  // ledcAttach(MOTOR1, PWMFREQ, PWMRESOLUTION);
+  // ledcAttach(MOTOR2, PWMFREQ, PWMRESOLUTION);
+  // ledcAttach(MOTOR3, PWMFREQ, PWMRESOLUTION);
+  // ledcAttach(MOTOR4, PWMFREQ, PWMRESOLUTION);
+  Serial.print("Setup Started");
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  sleep(3)
+  if (!bno08x.begin_I2C()) {
+    Serial.println("Failed to find BNO08x chip");
+    sleep(1);
+  }
+
+
+  Serial.print("Game Rotation Vector - r: ");
+  Serial.print(sensorValue.un.gameRotationVector.real);
+  Serial.print(" i: ");
+  Serial.print(sensorValue.un.gameRotationVector.i);
+  Serial.print(" j: ");
+  Serial.print(sensorValue.un.gameRotationVector.j);
+  Serial.print(" k: ");
+  Serial.println(sensorValue.un.gameRotationVector.k);
+}
+
+//https://randomnerdtutorials.com/esp32-pwm-arduino-ide/
+//https://github.com/adafruit/Adafruit_BNO08x/blob/master/examples/rotation_vector/rotation_vector.ino#L25
+```
+
+??? example
+```cpp
+#include <SparkFun_BNO080_Arduino_Library.h>
+#include <Wire.h>
+#include "conf.h"
+
+BNO080 myIMU;
+
+void setup() {
+  Serial.begin(9600);
+  Serial.println("setup started");
+  // Setup all ESC
+  // ledcAttach(MOTOR1, PWMFREQ, PWMRESOLUTION);
+  // ledcAttach(MOTOR2, PWMFREQ, PWMRESOLUTION);
+  // ledcAttach(MOTOR3, PWMFREQ, PWMRESOLUTION);
+  // ledcAttach(MOTOR4, PWMFREQ, PWMRESOLUTION);
+  Serial.print("Setup Started");
+
+  Wire.begin();
+  myIMU.begin();
+  Wire.setClock(400000);           //Increase I2C data rate to 400kHz
+  myIMU.enableRotationVector(50);  //Send data update every 50ms}
+}
+
+
+void loop() {
+
+  if (myIMU.dataAvailable() == true) {
+    float roll = (myIMU.getRoll()) * 180.0 / PI;    // Convert roll to degrees
+    float pitch = (myIMU.getPitch()) * 180.0 / PI;  // Convert pitch to degrees
+    float yaw = (myIMU.getYaw()) * 180.0 / PI;      // Convert yaw / heading to degrees
+
+    Serial.print(roll, 1);
+    Serial.print(F(","));
+    Serial.print(pitch, 1);
+    Serial.print(F(","));
+    Serial.print(yaw, 1);
+
+    Serial.println();
+  }
+}
+void calibrateESC() {
+  ledcWrite(MOTOR1, 1100);
+  ledcWrite(MOTOR2, 1100);
+  ledcWrite(MOTOR3, 1100);
+  ledcWrite(MOTOR4, 1100);
+}
+
+//https://randomnerdtutorials.com/esp32-pwm-arduino-ide/
+//https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library/blob/main/examples/Example24-UncalibratedGyro/Example24-UncalibratedGyro.ino
+```
+