Specify which degree for PID possible!

Comms-Rewrite/bouncer/bouncer.ino

@@ -16,12 +16,16 @@ void setup(){
  
 void loop(){
   
+ 
   if(Serial.available() > 0) {
     String data = Serial.readStringUntil('\n');
     if(data=="Data"){
     Serial.print("Hi Raspberry Pi! You sent me: ");
     Serial.println(String(i));
     i+=1;}
+    else{
+      Serial.println(data);
+    }
   }
   
 }

P_control_Code/P_control_Code.ino

@@ -28,7 +28,7 @@
 // Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
 // is used in I2Cdev.h
 #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
-    #include "Wire.h"
+#include "Wire.h"
 #endif
 
 // class default I2C address is 0x68
@@ -43,7 +43,7 @@ MPU6050 mpu(0x69); // <-- use for AD0 high
    depends on the MPU-6050's INT pin being connected to the Arduino's
    external interrupt #0 pin. On the Arduino Uno and Mega 2560, this is
    digital I/O pin 2.
- * ========================================================================= */
+   ========================================================================= */
 
 /* =========================================================================
    NOTE: Arduino v1.0.1 with the Leonardo board generates a compile error
@@ -54,7 +54,7 @@ MPU6050 mpu(0x69); // <-- use for AD0 high
 
    http://arduino.cc/forum/index.php/topic,109987.0.html
    http://code.google.com/p/arduino/issues/detail?id=958
- * ========================================================================= */
+   ========================================================================= */
 
 
 
@@ -137,7 +137,7 @@ 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] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };
+uint8_t teapotPacket[14] = { '$', 0x02, 0, 0, 0, 0, 0, 0, 0, 0, 0x00, 0x00, '\r', '\n' };
 
 
 
@@ -159,19 +159,19 @@ void dmpDataReady() {
 void setup() {
 
 
-myservo.attach(3);
+  myservo.attach(3);
   // join I2C bus (I2Cdev library doesn't do this automatically)
-    #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
+#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
   Wire.begin();
   Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
-    #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
+#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
   Fastwire::setup(400, true);
-    #endif
+#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)
-    Serial.begin(115200);
+  Serial.begin(9600);
   while (!Serial); // wait for Leonardo enumeration, others continue immediately
 
   // NOTE: 8MHz or slower host processors, like the Teensy @ 3.3V or Arduino
@@ -191,10 +191,6 @@ myservo.attach(3);
 
   // wait for ready
   Serial.println(F("\nSend any character to begin DMP programming and demo: "));
-    while (Serial.available() && Serial.read()); // empty buffer
-    while (!Serial.available());                 // wait for data
-    while (Serial.available() && Serial.read()); // empty buffer again
-
   // load and configure the DMP
   Serial.println(F("Initializing DMP..."));
   devStatus = mpu.dmpInitialize();
@@ -250,19 +246,26 @@ myservo.attach(3);
 
 void loop() {
   tic = toc;
+  if (Serial.available() > 0) {
+    String data = Serial.readStringUntil('\n');
+    int data2 = data.toInt();
+    goal = data2;
+  }
+  Serial.print(goal);
+  Serial.print("\t");
   // if programming failed, don't try to do anything
   if (!dmpReady) return;
   // read a packet from FIFO
   if (mpu.dmpGetCurrentFIFOPacket(fifoBuffer)) { // Get the Latest packet
 
 
-        #ifdef OUTPUT_READABLE_YAWPITCHROLL
+#ifdef OUTPUT_READABLE_YAWPITCHROLL
     // display Euler angles in degrees
     mpu.dmpGetQuaternion(&q, fifoBuffer);
     mpu.dmpGetGravity(&gravity, &q);
     mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
     //Serial.print("ypr\t");
-            Serial.print(ypr[0] * 180/M_PI);
+    Serial.print(ypr[0] * 180 / M_PI);
     Serial.print("\t");
     //Serial.print(ypr[1] * 180/M_PI);
     //Serial.print("\t");
@@ -271,16 +274,18 @@ void loop() {
 
     toc = millis();
     //dererr = (properr - (goal-ypr[0]))/(toc-tic);
-            properr = goal-ypr[0];
+    properr = goal * M_PI / 180  - ypr[0];
+    Serial.print(ypr[0]);
+    Serial.print("\t");
     //interr += properr * (toc-tic);
-            Serial.println(properr*kp);
+    Serial.println(properr * kp);
-            int toRot = properr*kp;
+    int toRot = properr * kp;
-            int Rot = max(min(1500-toRot,2000),1000);
+    int Rot = max(min(1500 - toRot, 2000), 1000);
     myservo.writeMicroseconds(Rot);
 
 
 
-        #endif
+#endif
 
     // blink LED to indicate activity
     blinkState = !blinkState;

RaspPi-flask-recieve/server-nosend.py

@@ -0,0 +1,13 @@
+import socket
+host=''
+port=2345
+s=socket.socket()
+s.bind((host,port))
+s.listen(10)
+while True:
+	conn,addr=s.accept()
+	print("Connected by",addr)
+	data=conn.recv(1024)
+	print("received data:",data)
+	conn.send(data)
+	conn.close()

RaspPi-flask-recieve/server.py

@@ -28,5 +28,5 @@ while True:
     receive_string = ser.readline().decode('utf-8').rstrip()
     print(receive_string)
 
-    conn.send(receive_string.encode())
+    conn.send(data)
     conn.close()