# Coding the drone

## Issues


### Using the wrong library for the BNO085
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
    ```