#define BLYNK_PRINT Serial
#define BLYNK_USE_DIRECT_CONNECT
#include <BlynkSimpleEsp32_BLE.h>
#include <BLEDevice.h>
#include <BLEServer.h>
#include <M5Stack.h>
char auth[] = "YOUR_AUTH_TOKEN";
#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);
m5bala.begin();
m5bala.setAngleOffset(-2.2);
Serial.println("Waiting for connections...");
Blynk.setDeviceName("Blynk on M5Stack2");
Blynk.begin(auth);
}
BLYNK_WRITE(V1) {
int x = param[0].asInt();
int y = param[1].asInt();
int v = map(x,0,1023,-255,255);
int w = map(y,0,1023,-255,255);
Serial.print("X = ");
Serial.print(x);
Serial.print("; Y = ");
Serial.print(y);
Serial.print("; V = ");
Serial.print(v);
Serial.print("; W = ");
Serial.println(w);
m5bala.setMotor(w,w);
}
void loop() {
Blynk.run();
}