sketch_MPU6050_Rotation_Lerp_simplified.ino

// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
// for both classes must be in the include path of your project
#include "I2Cdev.h"

#include "MPU6050_6Axis_MotionApps20.h"
//#include "MPU6050.h" // not necessary if using MotionApps include file

#include "Wire.h"

MPU6050 mpu(0x69);

// MPU control/status vars
bool dmpReady = false;  // set true if DMP init was successful
uint8_t devStatus;      // return status after each device operation (0 = success, !0 = error)
uint8_t fifoBuffer[64]; // FIFO storage buffer

// orientation/motion vars
Quaternion q;           // [w, x, y, z]         quaternion container   // [x, y, z]            world-frame accel sensor measurements
VectorFloat gravity;    // [x, y, z]            gravity vector
float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector

long startRot = 0;
long endRot = 90;

int buttonPin = A0;

// ================================================================
// ===                      INITIAL SETUP                       ===
// ================================================================

void setup() {
  // 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(9600);
    
    Wire.begin();
    Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties

    
    while (!Serial); // wait for Leonardo enumeration, others continue immediately

    // NOTE: 8MHz or slower host processors, like the Teensy @ 3.3V or Arduino
    // Pro Mini running at 3.3V, cannot handle this baud rate reliably due to
    // the baud timing being too misaligned with processor ticks. You must use
    // 38400 or slower in these cases, or use some kind of external separate
    // crystal solution for the UART timer.

    // initialize device
    
    Serial.println(F("Initializing I2C devices..."));
    mpu.initialize();

    // verify connection
    Serial.println(F("Testing device connections..."));
    Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));

    // load and configure the DMP
    Serial.println(F("Initializing DMP..."));
    devStatus = mpu.dmpInitialize();

    // supply your own gyro offsets here, scaled for min sensitivity
    mpu.setXGyroOffset(220);
    mpu.setYGyroOffset(76);
    mpu.setZGyroOffset(-85);
    mpu.setZAccelOffset(1788); // 1688 factory default for my test chip

    // make sure it worked (returns 0 if so)
    if (devStatus == 0) {
        // Calibration Time: generate offsets and calibrate our MPU6050
        mpu.CalibrateAccel(6);
        mpu.CalibrateGyro(6);
        mpu.PrintActiveOffsets();
        // turn on the DMP, now that it's ready
        Serial.println(F("Enabling DMP..."));
        mpu.setDMPEnabled(true);

        // 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..."));
        dmpReady = true;
    } else {
        // ERROR!
        // 1 = initial memory load failed
        // 2 = DMP configuration updates failed
        // (if it's going to break, usually the code will be 1)
        Serial.print(F("DMP Initialization failed (code "));
        Serial.print(devStatus);
        Serial.println(F(")"));
    }
}



// ================================================================
// ===                    MAIN PROGRAM LOOP                     ===
// ================================================================

void loop() {
    // 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 

      mpu.dmpGetQuaternion(&q, fifoBuffer);
      mpu.dmpGetGravity(&gravity, &q);
      mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);

    }

    long xRot = ypr[0] * 180/M_PI;
    long rotationAmount = map(xRot, startRot, endRot, 0, 1000);
    Serial.print(startRot);
    Serial.print("\t");
    Serial.print(xRot);
    Serial.print("\t");
    Serial.print(endRot);
    Serial.print("\t");
    Serial.println(rotationAmount);

    int btnOutput = analogRead(buttonPin);

    if(btnOutput > 600)
    {
      startRot = xRot;
    }
    else if(btnOutput > 300)
    {
      endRot = xRot;
    }
}