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IMU example for MRMS ESP32: Arduino, IMU, eFuse, BT, WiFi, CAN Bus (mrm-esp32)

Prerequisites

If not already done so already, install Arduino software and make basic connections, as described in page for MRMS ESP32: Arduino, IMU, eFuse, BT, WiFi, CAN Bus (mrm-esp32).

Task

MRMS ESP32: Arduino, IMU, eFuse, BT, WiFi, CAN Bus (mrm-esp32) has an internal IMU. We will show how to read heading, pitch and roll it measures.

Program

The program is again simple:

#include <mrm-imu.h>

Mrm_imu imu;

void setup(){
  Serial.begin(115200);
  Wire.begin();
  imu.add(true); 
}

void loop(){
  Serial.print("Heading: ");
  Serial.print(imu.heading());
  Serial.print(", pitch: ");
  Serial.print(imu.pitch());
  Serial.print(", roll: ");
  Serial.println(imu.roll());
  delay(100);
}

After including one of the downloaded librarires, mrm-imu, object "imu" is defined. This is our IMU.

setup() starts serial communication with our PC, then starts I²C (Wire.begin). I²C is necessary because the IMU (Inertial Measurement Unit) uses this serial bus. The last command starts the device.

loop() just displays heading, pitch, and roll measurements.