Specify which degree for PID possible!

Comms-Rewrite/bouncer/bouncer.ino

@@ -15,6 +15,7 @@ void setup(){
 }
  
 void loop(){
+  
  
   if(Serial.available() > 0) {
     String data = Serial.readStringUntil('\n');
@@ -22,6 +23,9 @@ void loop(){
     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
- * ========================================================================= */
+   ========================================================================= */
 
 
 
@@ -75,7 +75,7 @@ double dererr = 0.0;
 double toc = millis();
 
 Servo myservo;
- 
+
 
 
 // uncomment "OUTPUT_READABLE_QUATERNION" if you want to see the actual
@@ -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' };
 
 
 
@@ -147,7 +147,7 @@ uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\
 
 volatile bool mpuInterrupt = false;     // indicates whether MPU interrupt pin has gone high
 void dmpDataReady() {
-    mpuInterrupt = true;
+  mpuInterrupt = true;
 }
 
 
@@ -158,88 +158,84 @@ void dmpDataReady() {
 
 void setup() {
 
-  
-myservo.attach(3);
-    // join I2C bus (I2Cdev library doesn't do this automatically)
-    #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
-        Fastwire::setup(400, true);
-    #endif
 
-    // initialize serial communication
+  myservo.attach(3);
-    // (115200 chosen because it is required for Teapot Demo output, but it's
+  // join I2C bus (I2Cdev library doesn't do this automatically)
-    // really up to you depending on your project)
+#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
-    Serial.begin(115200);
+  Wire.begin();
-    while (!Serial); // wait for Leonardo enumeration, others continue immediately
+  Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
+#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
+  Fastwire::setup(400, true);
+#endif
 
-    // NOTE: 8MHz or slower host processors, like the Teensy @ 3.3V or Arduino
+  // initialize serial communication
-    // Pro Mini running at 3.3V, cannot handle this baud rate reliably due to
+  // (115200 chosen because it is required for Teapot Demo output, but it's
-    // the baud timing being too misaligned with processor ticks. You must use
+  // really up to you depending on your project)
-    // 38400 or slower in these cases, or use some kind of external separate
+  Serial.begin(9600);
-    // crystal solution for the UART timer.
+  while (!Serial); // wait for Leonardo enumeration, others continue immediately
 
-    // initialize device
+  // NOTE: 8MHz or slower host processors, like the Teensy @ 3.3V or Arduino
-    Serial.println(F("Initializing I2C devices..."));
+  // Pro Mini running at 3.3V, cannot handle this baud rate reliably due to
-    mpu.initialize();
+  // the baud timing being too misaligned with processor ticks. You must use
-    pinMode(INTERRUPT_PIN, INPUT);
+  // 38400 or slower in these cases, or use some kind of external separate
+  // crystal solution for the UART timer.
 
-    // verify connection
+  // initialize device
-    Serial.println(F("Testing device connections..."));
+  Serial.println(F("Initializing I2C devices..."));
-    Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
+  mpu.initialize();
+  pinMode(INTERRUPT_PIN, INPUT);
 
-    // wait for ready
+  // verify connection
-    Serial.println(F("\nSend any character to begin DMP programming and demo: "));
+  Serial.println(F("Testing device connections..."));
-    while (Serial.available() && Serial.read()); // empty buffer
+  Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
-    while (!Serial.available());                 // wait for data
-    while (Serial.available() && Serial.read()); // empty buffer again
 
-    // load and configure the DMP
+  // wait for ready
-    Serial.println(F("Initializing DMP..."));
+  Serial.println(F("\nSend any character to begin DMP programming and demo: "));
-    devStatus = mpu.dmpInitialize();
+  // load and configure the DMP
+  Serial.println(F("Initializing DMP..."));
+  devStatus = mpu.dmpInitialize();
 
-    // supply your own gyro offsets here, scaled for min sensitivity
+  // supply your own gyro offsets here, scaled for min sensitivity
-    mpu.setXGyroOffset(220);
+  mpu.setXGyroOffset(220);
-    mpu.setYGyroOffset(76);
+  mpu.setYGyroOffset(76);
-    mpu.setZGyroOffset(-85);
+  mpu.setZGyroOffset(-85);
-    mpu.setZAccelOffset(1788); // 1688 factory default for my test chip
+  mpu.setZAccelOffset(1788); // 1688 factory default for my test chip
 
-    // make sure it worked (returns 0 if so)
+  // make sure it worked (returns 0 if so)
-    if (devStatus == 0) {
+  if (devStatus == 0) {
-        // Calibration Time: generate offsets and calibrate our MPU6050
+    // Calibration Time: generate offsets and calibrate our MPU6050
-        mpu.CalibrateAccel(6);
+    mpu.CalibrateAccel(6);
-        mpu.CalibrateGyro(6);
+    mpu.CalibrateGyro(6);
-        mpu.PrintActiveOffsets();
+    mpu.PrintActiveOffsets();
-        // turn on the DMP, now that it's ready
+    // turn on the DMP, now that it's ready
-        Serial.println(F("Enabling DMP..."));
+    Serial.println(F("Enabling DMP..."));
-        mpu.setDMPEnabled(true);
+    mpu.setDMPEnabled(true);
 
-        // enable Arduino interrupt detection
+    // enable Arduino interrupt detection
-        Serial.print(F("Enabling interrupt detection (Arduino external interrupt "));
+    Serial.print(F("Enabling interrupt detection (Arduino external interrupt "));
-        Serial.print(digitalPinToInterrupt(INTERRUPT_PIN));
+    Serial.print(digitalPinToInterrupt(INTERRUPT_PIN));
-        Serial.println(F(")..."));
+    Serial.println(F(")..."));
-        attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);
+    attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);
-        mpuIntStatus = mpu.getIntStatus();
+    mpuIntStatus = mpu.getIntStatus();
 
-        // set our DMP Ready flag so the main loop() function knows it's okay to use it
+    // set our DMP Ready flag so the main loop() function knows it's okay to use it
-        Serial.println(F("DMP ready! Waiting for first interrupt..."));
+    Serial.println(F("DMP ready! Waiting for first interrupt..."));
-        dmpReady = true;
+    dmpReady = true;
 
-        // get expected DMP packet size for later comparison
+    // get expected DMP packet size for later comparison
-        packetSize = mpu.dmpGetFIFOPacketSize();
+    packetSize = mpu.dmpGetFIFOPacketSize();
-    } else {
+  } else {
-        // ERROR!
+    // ERROR!
-        // 1 = initial memory load failed
+    // 1 = initial memory load failed
-        // 2 = DMP configuration updates failed
+    // 2 = DMP configuration updates failed
-        // (if it's going to break, usually the code will be 1)
+    // (if it's going to break, usually the code will be 1)
-        Serial.print(F("DMP Initialization failed (code "));
+    Serial.print(F("DMP Initialization failed (code "));
-        Serial.print(devStatus);
+    Serial.print(devStatus);
-        Serial.println(F(")"));
+    Serial.println(F(")"));
-    }
+  }
 
-    // configure LED for outputj
+  // configure LED for outputj
-    pinMode(LED_PIN, OUTPUT);
+  pinMode(LED_PIN, OUTPUT);
 }
 
 
@@ -249,41 +245,50 @@ myservo.attach(3);
 // ================================================================
 
 void loop() {
-    tic = toc;
+  tic = toc;
-    // if programming failed, don't try to do anything
+  if (Serial.available() > 0) {
-    if (!dmpReady) return;
+    String data = Serial.readStringUntil('\n');
-    // read a packet from FIFO
+    int data2 = data.toInt();
-    if (mpu.dmpGetCurrentFIFOPacket(fifoBuffer)) { // Get the Latest packet 
+    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
+    // display Euler angles in degrees
-            mpu.dmpGetQuaternion(&q, fifoBuffer);
+    mpu.dmpGetQuaternion(&q, fifoBuffer);
-            mpu.dmpGetGravity(&gravity, &q);
+    mpu.dmpGetGravity(&gravity, &q);
-            mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
+    mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
-            //Serial.print("ypr\t");
+    //Serial.print("ypr\t");
-            Serial.print(ypr[0] * 180/M_PI);
+    Serial.print(ypr[0] * 180 / M_PI);
-            Serial.print("\t");
+    Serial.print("\t");
-            //Serial.print(ypr[1] * 180/M_PI);
+    //Serial.print(ypr[1] * 180/M_PI);
-            //Serial.print("\t");
+    //Serial.print("\t");
-            //Serial.println(ypr[2] * 180/M_PI);
+    //Serial.println(ypr[2] * 180/M_PI);
 
 
-            toc = millis();
+    toc = millis();
-            //dererr = (properr - (goal-ypr[0]))/(toc-tic);
+    //dererr = (properr - (goal-ypr[0]))/(toc-tic);
-            properr = goal-ypr[0];
+    properr = goal * M_PI / 180  - ypr[0];
-            //interr += properr * (toc-tic);
+    Serial.print(ypr[0]);
-            Serial.println(properr*kp);
+    Serial.print("\t");
-            int toRot = properr*kp;
+    //interr += properr * (toc-tic);
-            int Rot = max(min(1500-toRot,2000),1000);
+    Serial.println(properr * kp);
-            myservo.writeMicroseconds(Rot);
+    int toRot = properr * kp;
+    int Rot = max(min(1500 - toRot, 2000), 1000);
+    myservo.writeMicroseconds(Rot);
 
-            
-            
-        #endif
 
-        // blink LED to indicate activity
+
-        blinkState = !blinkState;
+#endif
-        digitalWrite(LED_PIN, blinkState);
+
-    }
+    // blink LED to indicate activity
+    blinkState = !blinkState;
+    digitalWrite(LED_PIN, 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()