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

@@ -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
- * ========================================================================= */
+   ========================================================================= */
 
 
 
@@ -171,7 +171,7 @@ myservo.attach(3);
   // 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();
@@ -250,6 +246,13 @@ 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
@@ -271,7 +274,9 @@ 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);
     int toRot = properr * kp;

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()