BlynkでM5 Balaを動かすテスト

#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);  // Set I2C frequency to 400kHz
  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();
}