GiovanniBalestrieri

void getGyroValues()
{
  timerReading = micros() - dt;
  
  byte xMSB = readRegister(L3G4200D_Address, 0x29);
  byte xLSB = readRegister(L3G4200D_Address, 0x28);
  x = ((xMSB << 8) | xLSB);

  byte yMSB = readRegister(L3G4200D_Address, 0x2B);
  byte yLSB = readRegister(L3G4200D_Address, 0x2A);

GiovanniBalestrieri

void writeRegister(int deviceAddress, byte address, byte val) 
{
    Wire.beginTransmission(deviceAddress); // start transmission to device 
    Wire.write(address);       // send register address
    Wire.write(val);         // send value to write
    Wire.endTransmission();     // end transmission
}


int readRegister(int deviceAddress, byte address)

GiovanniBalestrieri

//#define DEBUG
#include <Wire.h>

#define CTRL_REG1 0x20
#define CTRL_REG2 0x21
#define CTRL_REG3 0x22
#define CTRL_REG4 0x23
#define CTRL_REG5 0x24

// Declare L3G4200D address

GiovanniBalestrieri

int a=0;

void setup()
{
  Serial.begin(9600);
}

void loop()
{
  serialRoutine();

GiovanniBalestrieri

% XBee expects the end of commands to be delineated by a carriage return.
  xbee = serial(port,'baudrate',9600,'terminator','CR','tag','Quad');

  set(xbee, 'TimeOut', 5);  %I am willing to wait 1.5 secs for data to arive
  % I wanted to make my buffer only big enough to store one message
  set(xbee, 'InputBufferSize',  390 )
  % Before you can write to your serial port, you need to open it:
  fopen(xbee);
  
  disp('Serial port opened');

GiovanniBalestrieri

fprintf(xbee,'T');
disp('Sent: T');
pause(1);
ack = fscanf( xbee, '%s');
if (strcmp(deblank(ack), 'Ok') == 1)
    disp ('Received: OK');
end

fprintf(xbee,'M');
disp ('Sent: M');

GiovanniBalestrieri

fclose(xbee);
delete(xbee);
clear xbee

GiovanniBalestrieri

%% Arduino Matlab communication
    clear all;
    clc;
    delete(instrfindall);
%% Check serial objects & Connect to Port

%   Check the port you are using with the arduino, then run: sudo ln -s /dev/ttyNUMBER /dev/ttyS101
    disp('Linux User? Have you run the simbolic link with ttyS101?');
    disp('sudo ln -s /dev/tty_NUMBER_ /dev/ttyS101');
    port = '/dev/ttyS101';

GiovanniBalestrieri

%% Ask desired Sample Rate in Hz
rate=input('Enter the samplerate in Hz. Max 500Hz:    ');
delay = 1/rate;
str = sprintf('SampleRate fixed to: %f.', delay);
disp(str);

GiovanniBalestrieri

%% Initializinig rolling plot

buf_len = 100;
index = 1:buf_len;

% create variables for the Xaxis
gxdata = zeros(buf_len,1);
gydata = zeros(buf_len,1);
gzdata = zeros(buf_len,1);