以下のレポジトリから4つをダウンロードしておく
M5Bala.cpp, M5Bala.h, imuCalibration.cpp, imuCalibration.h
github.com
#include <M5Stack.h> #include <Wire.h> #include <Preferences.h> #include "imuCalibration.h" #include "M5Bala.h" Preferences preferences; M5Bala m5bala(Wire); void setup() { M5.begin(); Wire.begin(); Wire.setClock(400000UL); // Set I2C frequency to 400kHz M5.Lcd.setTextFont(2); M5.Lcd.setTextColor(WHITE, BLACK); M5.Lcd.println("M5Stack start"); m5bala.begin(); m5bala.setAngleOffset(-2.2); } void loop() { m5bala.setMotor(255, 255); delay(1000); m5bala.setMotor(0, 0); delay(1000); m5bala.setMotor(-255, -255); delay(1000); m5bala.setMotor(0, 0); delay(1000); }