Drone-FabAcademy-2025/docs/week_1_fabacademy/drone_code.md

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

#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

#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