Projeto_lilypad

#include "I2Cdev.h"

#include "MPU6050_6Axis_MotionApps20.h"

#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
    #include "Wire.h"
#endif

const int motor1  = 10; //definindo constantes para as portas dos motores e do buzzer
const int motor2  = 9;

int buzzer = 6;

MPU6050 mpu;

bool blinkState = false;

// MPU control/status vars
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
VectorInt16 aa;         // [x, y, z]            accel sensor measurements
VectorInt16 aaReal;     // [x, y, z]            gravity-free accel sensor measurements
VectorInt16 aaWorld;    // [x, y, z]            world-frame accel sensor measurements
VectorFloat gravity;    // [x, y, z]            gravity vector
float euler[3];         // [psi, theta, phi]    Euler angle container
float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector

// packet structure for InvenSense teapot demo
uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };

volatile bool mpuInterrupt = false;     // indicates whether MPU interrupt pin has gone high
void dmpDataReady() {
    mpuInterrupt = true;
}
void setup() {

    pinMode(motor1, OUTPUT); //Configurando pinos dos motores e buzzer
    pinMode(motor2, OUTPUT);
    pinMode(buzzer,OUTPUT);
    Serial.begin(115200);
    configuracaoMPU6050();

}


void loop() {

  mpu6050();

}
//Declarando funcoes para controle dos motores
void stopMotors(){ //Funcao para parar os motores
    digitalWrite(motor1, LOW);
    digitalWrite(motor2, LOW);
}
void turnMotor1(){// Funcao para acionar apenas o motor 1
    digitalWrite(motor1, LOW);
    analogWrite(motor2, 255);

}
void turnMotor2(){ // Funcao para acionar apenas o motor 2
    analogWrite(motor1, 255);
    digitalWrite(motor2, LOW);


}
void turnMotors(){ //Funções para acionar os dois motores
    analogWrite(motor1, 255);
    analogWrite(motor2, 255);
}

void alarme(int tempo){ //Funcao para tocar o alarme no tempo escolhido em ms
  tone(buzzer,261);
  delay(tempo);

}

void desligaAlarme(){ //Funcao para desligar o Alarme
  noTone(buzzer);
}



void mpu6050(){
    // if programming failed, don't try to do anything
    if (!dmpReady) return;

    // wait for MPU interrupt or extra packet(s) available
    while (!mpuInterrupt && fifoCount < packetSize) {
        // other program behavior stuff here
        // .
        // .
        // .
        // if you are really paranoid you can frequently test in between other
        // stuff to see if mpuInterrupt is true, and if so, "break;" from the
        // while() loop to immediately process the MPU data
        // .
        // .
        // .
    }

    // reset interrupt flag and get INT_STATUS byte
    mpuInterrupt = false;
    mpuIntStatus = mpu.getIntStatus();

    // get current FIFO count
    fifoCount = mpu.getFIFOCount();

    // check for overflow (this should never happen unless our code is too inefficient)
    if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
        // reset so we can continue cleanly
        mpu.resetFIFO();
        Serial.println(F("FIFO overflow!"));

    // otherwise, check for DMP data ready interrupt (this should happen frequently)
    } else if (mpuIntStatus & 0x02) {
        // wait for correct available data length, should be a VERY short wait
        while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();

        // read a packet from FIFO
        mpu.getFIFOBytes(fifoBuffer, packetSize);

        // track FIFO count here in case there is > 1 packet available
        // (this lets us immediately read more without waiting for an interrupt)
        fifoCount -= packetSize;

        mpu.dmpGetQuaternion(&q, fifoBuffer);
        mpu.dmpGetGravity(&gravity, &q);
        mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
        Serial.print("gyro: x = ");
        Serial.print(ypr[0] * 180/M_PI);
        Serial.print("  y = ");
        Serial.print(ypr[1] * 180/M_PI);
        Serial.print("  z = ");
        Serial.print(ypr[2] * 180/M_PI);


        mpu.dmpGetQuaternion(&q, fifoBuffer);
        mpu.dmpGetAccel(&aa, fifoBuffer);
        mpu.dmpGetGravity(&gravity, &q);
        mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
        mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
        Serial.print(" |||| Accel: X = ");
        Serial.print(aaWorld.x);
        Serial.print("  Y = ");
        Serial.print(aaWorld.y);
        Serial.print("  Z = ");
        Serial.println(aaWorld.z);
    }
}


void configuracaoMPU6050(){
   // join I2C bus (I2Cdev library doesn't do this automatically)
    #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
        Wire.begin();
        TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz)
    #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
        Fastwire::setup(400, true);
    #endif

    // initialize serial communication
    // (115200 chosen because it is required for Teapot Demo output, but it's
    // really up to you depending on your project)

    mpu.initialize();

    devStatus = mpu.dmpInitialize();

    // supply your own gyro offsets here, scaled for min sensitivity
    mpu.setXGyroOffset(220);
    mpu.setYGyroOffset(76);
    mpu.setZGyroOffset(-85);
    mpu.setZAccelOffset(1788); // 1688 factory default for my test chip

    // make sure it worked (returns 0 if so)
    if (devStatus == 0) {

        mpu.setDMPEnabled(true);

        // enable Arduino interrupt detection
        attachInterrupt(0, dmpDataReady, RISING);
        mpuIntStatus = mpu.getIntStatus();

        // set our DMP Ready flag so the main loop() function knows it's okay to use it
        dmpReady = true;

        // get expected DMP packet size for later comparison
        packetSize = mpu.dmpGetFIFOPacketSize();
    }
}