Arduino UNO R3 with the x-nucleo-iks01a3 Hi, i connected the Arduino UNO R3 with the motion MEMS and environmental sensor evaluation board system: X-NUCLEO-IKS01A3 of ST. I installed the library (STM32duino,LSM6DSO), and tried to create a code for a self-balancing robot. But it doesn't print the right angle. // Includes
#include <LSM6DSOSensor.h>
#ifdef ARDUINO_SAM_DUE
#define DEV_I2C Wire1
#elif defined(ARDUINO_ARCH_STM32)
#define DEV_I2C Wire
#elif defined(ARDUINO_ARCH_AVR)
#define DEV_I2C Wire
#else
#define DEV_I2C Wire
#endif
#define SerialPort Serial
int16_t accY, accZ, gyroX;
volatile int motorPower, gyroRate;
volatile float accAngle, gyroAngle, currentAngle, prevAngle=0, error, prevError=0, errorSum=0;
volatile byte count=0;
unsigned long currTime, prevTime=0, loopTime;
#define leftMotorPWMPin 6
#define leftMotorDirPin 7
#define rightMotorPWMPin 5
#define rightMotorDirPin 4
#define Kp 40
#define Kd 0.05
#define Ki 40
#define sampleTime 0.005
#define targetAngle
