asdf

majikayo/majikayo.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;
+int status, xx, yy, swsw;
 
 void setup()
 {
-  Serial.begin(115200);
+  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)
@@ -21,22 +32,28 @@ 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;
-  Serial.print(ptr[3], HEX);
-  Serial.print(ptr[2], HEX);
-  Serial.print(ptr[1], HEX);
-  Serial.print(ptr[0], HEX);
+  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());
@@ -44,6 +61,17 @@ void loop()
   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();
-  delay(20);
+  bt.println();
+  delay(100);
 }

[15김건우]

시행착오 1. 출력 이상

0x11001100과 같이 데이터가 있을때, 기존 방법대로 하면 110110으로 출력되고, 받는쪽에선 0x00110110으로 해석하게 된다. 따라서 arduino에서 byte를 하나의 int로 합쳐서 출력한다.