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	- Project: "Sensor Control"
	- Source Code NOT compiled for: Arduino Mega
	- Source Code created on: 2024-06-24 04:53:25

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/****** SYSTEM REQUIREMENTS *****/
/****** SYSTEM REQUIREMENT 1 *****/
	/* take input from 4 hall sensor for each wheel */
/****** SYSTEM REQUIREMENT 2 *****/
	/* take input pwm signal and send out to 4 brushless */
	/* esc for each wheel. change the motor speed to */
	/* maintain traction */
/****** END SYSTEM REQUIREMENTS *****/

/****** DEFINITION OF LIBRARIES *****/
#include 
#include  //https://github.com/jrowberg/i2cdevlib
#include  // Library for controlling ESCs

/****** FUNCTION PROTOTYPES *****/
void setup(void);
void loop(void);
void dmpDataReady(void);

/***** DEFINITION OF DIGITAL INPUT PINS *****/
const uint8_t gyro_MPU6050_Interrupt_PIN_D2 = 2;
const uint8_t hallSensorPins[4] = {3, 4, 5, 6}; // Pins for hall sensors

/***** DEFINITION OF PWM OUTPUT PINS *****/
const uint8_t escPins[4] = {7, 8, 9, 10}; // Pins for ESCs

/***** DEFINITION OF I2C PINS *****/
const uint8_t gyro_MPU6050_I2C_PIN_SDA_D20 = 20;
const uint8_t gyro_MPU6050_I2C_PIN_SCL_D21 = 21;
const uint8_t gyro_MPU6050_I2C_SLAVE_ADDRESS = 0x68;

/****** DEFINITION OF LIBRARIES CLASS INSTANCES*****/
MPU6050 mpu;
Servo escs[4]; // Array to hold ESC objects

/****** GLOBAL VARIABLES *****/
bool dmpReady = false;  // set true if DMP init was successful
uint8_t mpuIntStatus;   // holds actual interrupt status byte from MPU
uint8_t devStatus;      // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize;    // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount;     // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer

// orientation/motion vars
Quaternion q;           // [w, x, y, z]         quaternion container
VectorFloat gravity;    // [x, y, z]            gravity vector
float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector

volatile bool mpuInterrupt = false;     // indicates whether MPU interrupt pin has gone high

void dmpDataReady() {
    mpuInterrupt = true;
}

void setup(void)
{
    // put your setup code here, to run once:

    pinMode(gyro_MPU6050_Interrupt_PIN_D2, INPUT);

    // Initialize hall sensor pins
    for (int i = 0; i < 4; i++) {
        pinMode(hallSensorPins[i], INPUT);
    }

    // Initialize ESCs
    for (int i = 0; i < 4; i++) {
        escs[i].attach(escPins[i]);
        escs[i].writeMicroseconds(1500); // Neutral position for ESCs
    }

    #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
        Wire.begin();
        Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
    #endif

    Serial.begin(115200);
    while (!Serial);

    Serial.println(F("Initializing I2C devices..."));
    mpu.initialize();
    pinMode(gyro_MPU6050_Interrupt_PIN_D2, INPUT);

    Serial.println(F("Testing device connections..."));
    Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));

    Serial.println(F("\nSend any character to begin DMP programming and demo: "));
    while (!Serial.available());
    while (Serial.available() && Serial.read());

    Serial.println(F("Initializing DMP..."));
    devStatus = mpu.dmpInitialize();

    mpu.setXGyroOffset(220);
    mpu.setYGyroOffset(76);
    mpu.setZGyroOffset(-85);
    mpu.setZAccelOffset(1788);

    if (devStatus == 0) {
        mpu.CalibrateAccel(6);
        mpu.CalibrateGyro(6);
        mpu.PrintActiveOffsets();
        Serial.println(F("Enabling DMP..."));
        mpu.setDMPEnabled(true);

        Serial.print(F("Enabling interrupt detection (Arduino external interrupt "));
        Serial.print(digitalPinToInterrupt(gyro_MPU6050_Interrupt_PIN_D2));
        Serial.println(F(")..."));
        attachInterrupt(digitalPinToInterrupt(gyro_MPU6050_Interrupt_PIN_D2), dmpDataReady, RISING);
        mpuIntStatus = mpu.getIntStatus();

        Serial.println(F("DMP ready! Waiting for first interrupt..."));
        dmpReady = true;
        packetSize = mpu.dmpGetFIFOPacketSize();
    } else {
        Serial.print(F("DMP Initialization failed (code "));
        Serial.print(devStatus);
        Serial.println(F(")"));
    }

    pinMode(LED_BUILTIN, OUTPUT);
}

void loop(void)
{
    // put your main code here, to run repeatedly:

    if (!dmpReady) return;

    if (mpu.dmpGetCurrentFIFOPacket(fifoBuffer)) {
        mpu.dmpGetQuaternion(&q, fifoBuffer);
        mpu.dmpGetGravity(&gravity, &q);
        mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
        Serial.print("ypr\t");
        Serial.print(ypr[0] * 180/M_PI);
        Serial.print("\t");
        Serial.print(ypr[1] * 180/M_PI);
        Serial.print("\t");
        Serial.println(ypr[2] * 180/M_PI);

        digitalWrite(LED_BUILTIN, !digitalRead(LED_BUILTIN));
    }

    // Read hall sensor inputs
    int hallSensorValues[4];
    for (int i = 0; i < 4; i++) {
        hallSensorValues[i] = digitalRead(hallSensorPins[i]);
    }

    // Control ESCs based on hall sensor inputs
    for (int i = 0; i < 4; i++) {
        int pwmValue = map(hallSensorValues[i], 0, 1, 1000, 2000); // Example mapping
        escs[i].writeMicroseconds(pwmValue);
    }
}

/* END CODE */