Final

README.md

+## 배선
+### MPU-9250 연결
+| MPU9250 | Arduino Nano |
+|:-------:|:------------:|
+| VCC     | 5V           |
+| GND     | GND          |
+| SCL     | A5           |
+| SDA     | A4           |
+
+### HC-06 연결
+| HC-06 | Arduino Nano |
+|:-----:|:------------:|
+| VCC   | 5V           |
+| GND   | GND          |
+| RXD   | 3            |
+| TXD   | 2            |
+
+### 조이스틱 연결
+| Joystick | Arduino Nano |
+|:--------:|:------------:|
+| +5V      | 5V           |
+| GND      | GND          |
+| VRx      | A2           |
+| VRy      | A1           |
+| SW       | 5            |
+
+### 배터리 연결
+| Battery   | Arduino Nano |
+|:---------:|:------------:|
+| +         | 5V           |
+| -         | GND          |
\ No newline at end of file

controller.ino

+#include <SoftwareSerial.h>
+#include "MPU9250.h"
+
+const int btRx = 3, btTx = 2, sw = 5;
+const int x = A1, y = A2;
+SoftwareSerial bt(btTx, btRx);
+
+MPU9250 IMU(Wire,0x68);
+int status, xx, yy, swsw;
+
+void setup()
+{
+  Serial.begin(9600);
+  pinMode(x, INPUT);
+  pinMode(y, INPUT);
+  pinMode(sw, INPUT);
+  digitalWrite(sw, HIGH);
+  while(!Serial) {}
+  bt.begin(9600);
+  bt.println("AT+NAMEdronermctrl");
+
+  status = IMU.begin();
+  if (status < 0)
+  {
+    Serial.print("IMU Error: ");
+    Serial.println(status);
+    while(1) { }
+  }
+}
+
+void writeulong(unsigned long x)
+{
+  Serial.print(x, HEX);
+  Serial.print(" ");
+  bt.print(x, HEX);
+  bt.print(" ");
+}
+
+void writefloat(float x)
+{
+  byte* ptr = (byte*)&x;
+  unsigned long v = ((unsigned long)ptr[3] << 24) | ((unsigned long)ptr[2] << 16) | ((unsigned long)ptr[1] << 8) | ptr[0];
+  Serial.print(v, HEX);
+  Serial.print(" ");
+  bt.print(v, HEX);
+  bt.print(" ");
+}
+
+void loop()
+{
+  xx = analogRead(x);
+  yy = analogRead(y);
+  swsw = digitalRead(sw);
+  IMU.readSensor();
+  Serial.print("=");
+  bt.print("=");
+  writeulong(micros());
+  writefloat(IMU.getAccelX_mss());
+  writefloat(IMU.getAccelY_mss());
+  writefloat(IMU.getAccelZ_mss());
+  writefloat(IMU.getGyroX_rads());
+  writefloat(IMU.getGyroY_rads());
+  writefloat(IMU.getGyroZ_rads());
+  Serial.print(xx);
+  Serial.print(" ");
+  Serial.print(yy);
+  Serial.print(" ");
+  Serial.print(swsw);
+  bt.print(xx);
+  bt.print(" ");
+  bt.print(yy);
+  bt.print(" ");
+  bt.print(swsw);
+  Serial.println();
+  bt.println();
+  delay(100);
+}