(100kinsat)回転しながらキャリブレーション

回転しながら加速度・ジャイロセンサのキャリブレーションをしているため，手直し必要

#include "MPU9250.h"

const int motorA[3] = {13, 4, 25};  // AIN1, AIN2, PWMA
const int motorB[3] = {14, 27, 26}; // BIN1, BIN2, PWMB

const int CHANNEL_A = 0;
const int CHANNEL_B = 1;

const int LEDC_TIMER_BIT = 8;
const int LEDC_BASE_FREQ = 490;


MPU9250 mpu; // You can also use MPU9255 as is

void setup() {
    for(int i = 0; i < 3; i++){
      pinMode(motorA[i], OUTPUT);
      pinMode(motorB[i], OUTPUT);
    }

    ledcSetup(CHANNEL_A, LEDC_BASE_FREQ, LEDC_TIMER_BIT);
    ledcSetup(CHANNEL_B, LEDC_BASE_FREQ, LEDC_TIMER_BIT);

    ledcAttachPin(motorA[2], CHANNEL_A);
    ledcAttachPin(motorB[2], CHANNEL_B);
    Serial.begin(115200);
    Wire.begin();
    delay(2000);

    mpu.setup(0x68);  // change to your own address
    delay(5000);

    // calibrate anytime you want to
    mpu.calibrateAccelGyro();
    mpu.calibrateMag();
}

void loop() {
    if (mpu.update()) {
        // 上限，下限
        Serial.print(-200);  Serial.print(", ");
        Serial.print(200);  Serial.print(", ");
        Serial.print(mpu.getYaw()); Serial.print(", ");
        Serial.print(mpu.getPitch()); Serial.print(", ");
        Serial.println(mpu.getRoll());
    }

    // 右モータ（CW，時計回り）
    digitalWrite(motorB[1], LOW);
    digitalWrite(motorB[0], HIGH);
    ledcWrite(CHANNEL_B, 50);
}

msymt/gist:3e8d915a2b3a77dc2c3546c37885842c