Update ESP32.cpp

ESP32.cpp

@@ -1 +1,168 @@
+#include <BLEDevice.h>
+#include <BLEServer.h>
+#include <BLEUtils.h>
+#include <BLE2902.h> 
+#include <ArduinoJson.h>
+#include <Timer.h>
+#include <MPU6050.h>
+#include <I2Cdev.h>
+
+
+MPU6050 mpu;
+Timer time;
+BLECharacteristic *pCharacteristic;
+bool deviceConnected = false;
+int txValue = 0;
+
+#define SERVICE_UUID = NULL //theres a UUID for each esp32 from the FCC we jsut put that data here and copy it below
+#define CHARACTERISTIC_UUID_TX = NULL
+//defines the output format of the mpu data
+#define OUTPUT_READABLE_ACCELGYRO
+
+//creates a few 16 bit sighned intergers for each axis
+int16_t ax, ay, az;
+int16_t gx, gy, gz;
+
+
+class MyServerCallBacks: public BLEServerCallbacks {
+  
+  void onConnect(BLEServer* pServer) {
+    deviceConnected = true;
+  };
+
+  void onDisconnect(BLEServer* pServer){
+    deviceConnected = false;
+  }
+
+};
+
+bool connectedTimer() {
+  if(deviceConnected) {
+      timer.start();
+      if(time.read() == 3000) {
+        if(deviceConnected) {
+          return true;
+          time.stop();
+        } else {
+          time.stop();
+          return false;
+        }
+      }
+  }
+}
+
+int accelX = mpu.getXAccelOffset();
+int accelY = mpu.getYAccelOffset();
+int accelZ = mpu.getZAccelOffset();
+
+int gyroX = mpu.getXAccelOffset();
+int gyroY = mpu.getYAccelOffset();
+int gyroZ = mpu.getZAccelOffset();
+
+//create the JSON format
+JsonDocument mpuData;
+
+mpuData["accelration_x"] = accelX;
+mpuData["accelration_y"] = accelY;
+mpuData["accelration_z"] = accelZ;
+mpuData["gyro_x"] = gyroX;
+mpuData["gyro_y"] = gyroY;
+mpuData["gyro_z"] = gyroZ;
+
+//serializeJson(mpuData, Serial);
+
+void setup() {
+  // put your setup code here, to run once:
+  Serial.begin(38400);
+
+  if(I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE){
+    Wire.begin();
+  } elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE) {
+    Fastwire::setup(400, true);
+  }
+
+  Serial.println("starting MPU");
+
+  mpu.initialize();
+  Serial.println("running checks.....");
+  if(mpu.testConnection() == false){
+    Serial.println("testing failed");
+  } else {
+    Serial.println("MPU6050; 200")
+  }
+
+  Serial.println("about to Zero, Hold device in desired pos for 5 seconds to accuratlly zero");
+  Delay(3000);
+  mpu.setXAccelOffset(0); 
+  mpu.setYAccelOffset(0); 
+  mpu.setZAccelOffset(0);
+  mpu.setXGyroOffset(0);  
+  mpu.setYGyroOffset(0); 
+  mpu.setZGyroOffset(0);  
+
+  Serial.println("Device is now zeroed to current pos");
+  Serial.println("Setting current values");
+
+
+
+
+  //create bluetooth device
+  BLEDevice::init("dope paddle");
+
+  //create bluetooth server
+  BLEServer *pServer = BLEServer::createServer();
+  pServer->setCallbacks(new MyServerCallbacks());
+
+  //actually create the signal
+  BLEService *pService = pServer->createService(SERVICE_UUID);
+
+  //create a bluetooth chararicteristic
+  pCharacteristic = pService->createCharacteristic(CHARACTERISTIC_UUID_TX,BLECharacteristic::PROPERTY_NOTIFY);
+
+  //send bluetooth notification out
+  pCharacteristic->addDescriptor(new BLE2902());
+
+  pService->start();
+
+  pServer->getAdvertising()->start();
+  
+  Serial.println("waiting for connection....");
+}
+
+
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  //get all the current values form the MPU
+  accelX = mpu.getXAccelOffset();
+  accelY = mpu.getYAccelOffset();
+  accelZ = mpu.getZAccelOffset();
+  gyroX = mpu.getXGyroOffset();
+  gyroY = mpu.getYGyroOffset();
+  gyroZ = mpu.getZGyroOffset();
+  
+  //print all current values
+  Serial.println(accelX + accelY + accelZ + gyroX + gyroY + gyroZ);
+  
+  if(connectedTimer()) {//checks that the device has been connected for 3 seconds
+    txValue = mpuData["gyro_x"]["gyro_y"]["gyro_z"]["accelration_x"]["accelration_y"]["accelration_z"]; //txValue will transmit all the current values of mpuData
+    //convert txValue into bytes
+    //char txString[8];
+    //dtostrf(txValue, 1, 2, txString);
+
+    //sets txValue to the charecteristic of the device (the data to send)
+    pCharacteristic->setValue(txValue);//txString
+
+    //actually send data
+    pCharacteristic->notify();
+    Serial.println("IT WORKED: " + String(txValue));
+    
+  }
+
+
+
+
+
+
+}