creating a model

.vscode/settings.json

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+{}

hardware/ML_model/mlModel/.gitignore

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+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch

hardware/ML_model/mlModel/.vscode/extensions.json

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+{
+    // See http://go.microsoft.com/fwlink/?LinkId=827846
+    // for the documentation about the extensions.json format
+    "recommendations": [
+        "platformio.platformio-ide"
+    ],
+    "unwantedRecommendations": [
+        "ms-vscode.cpptools-extension-pack"
+    ]
+}

hardware/ML_model/mlModel/include/README

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+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the convention is to give header files names that end with `.h'.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

hardware/ML_model/mlModel/lib/README

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+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into the executable file.
+
+The source code of each library should be placed in a separate directory
+("lib/your_library_name/[Code]").
+
+For example, see the structure of the following example libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional. for custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+Example contents of `src/main.c` using Foo and Bar:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+The PlatformIO Library Dependency Finder will find automatically dependent
+libraries by scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html

hardware/ML_model/mlModel/platformio.ini

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+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[env:uno]
+platform = atmelavr
+board = uno
+framework = arduino
+lib_deps = 
+	electroniccats/MPU6050@^1.4.1
+	stevemarple/SoftWire@^2.0.10
+	testato/SoftwareWire@^1.6.0

hardware/ML_model/mlModel/src/main.cpp

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+#include "Wire.h"
+#include "MPU6050.h"
+#include <SoftwareSerial.h>
+
+SoftwareSerial BTSerial(2, 3);  // Bluetooth TX (D3) & RX (D2)
+
+MPU6050 gyro1(0x68);  // First MPU6050 (AD0 → GND)
+MPU6050 gyro2(0x69);  // Second MPU6050 (AD0 → VCC)
+
+int16_t gyroData[2][6];  // 2D array to store sensor data
+
+// Button pins
+const int buttonPins[] = {4, 5, 6};  // Three buttons
+int buttonStates[3] = {0, 0, 0};      // Store button states
+
+void setup() {
+    Serial.begin(115200);
+    BTSerial.begin(9600);
+    Wire.begin(); 
+
+    // Initialize buttons as INPUT_PULLUP
+    for (int i = 0; i < 3; i++) {
+        pinMode(buttonPins[i], INPUT_PULLUP);
+    }
+
+    Serial.println("Initializing Gyroscopes...");
+
+    gyro1.initialize();
+    if (!gyro1.testConnection()) Serial.println("Gyro1 (0x68) not responding!");
+    else {
+        Serial.println("Gyro1 connected.");
+        calibrateMPU6050(gyro1);
+    }
+
+    gyro2.initialize();
+    if (!gyro2.testConnection()) Serial.println("Gyro2 (0x69) not responding!");
+    else {
+        Serial.println("Gyro2 connected.");
+        calibrateMPU6050(gyro2);
+    }
+}
+
+void calibrateMPU6050(MPU6050 &gyro) {
+    Serial.println("Calibrating...");
+    int32_t gx_offset = 0, gy_offset = 0, gz_offset = 0;
+
+    for (int i = 0; i < 200; i++) {
+        int16_t ax, ay, az, gx, gy, gz;
+        gyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
+
+        gx_offset += gx;
+        gy_offset += gy;
+        gz_offset += gz;
+
+        delay(10);
+    }
+
+    gx_offset /= 200;
+    gy_offset /= 200;
+    gz_offset /= 200;
+
+    gyro.setXGyroOffset(-gx_offset);
+    gyro.setYGyroOffset(-gy_offset);
+    gyro.setZGyroOffset(-gz_offset);
+
+    Serial.println("Calibration complete.");
+}
+
+void loop() {
+    // Read data from first gyro
+    gyro1.getMotion6(&gyroData[0][0], &gyroData[0][1], &gyroData[0][2], &gyroData[0][3], &gyroData[0][4], &gyroData[0][5]);
+
+    // Read data from second gyro
+    gyro2.getMotion6(&gyroData[1][0], &gyroData[1][1], &gyroData[1][2], &gyroData[1][3], &gyroData[1][4], &gyroData[1][5]);
+
+    // Read button states (LOW when pressed, HIGH when released)
+    for (int i = 0; i < 3; i++) {
+        buttonStates[i] = digitalRead(buttonPins[i]);
+    }
+
+    // Print and send data
+    sendData();
+
+    Serial.println("------------------------");
+    delay(500);
+}
+
+void sendData() {
+    for (int i = 0; i < 2; i++) { 
+        Serial.print("Gyro"); Serial.print(i + 1); Serial.print(": ");
+        BTSerial.print("Gyro"); BTSerial.print(i + 1); BTSerial.print(": ");
+
+        for (int j = 0; j < 6; j++) {  
+            Serial.print(gyroData[i][j]); Serial.print("\t");
+            BTSerial.print(gyroData[i][j]); BTSerial.print(",");
+        }
+        Serial.println();
+        BTSerial.println();
+    }
+
+    // Send button states over Bluetooth
+    for (int i = 0; i < 3; i++) {
+        Serial.print("Button "); Serial.print(i + 1);
+        Serial.print(": ");
+        Serial.println(buttonStates[i] == LOW ? "PRESSED" : "RELEASED");
+
+        BTSerial.print("Button "); BTSerial.print(i + 1);
+        BTSerial.print(": ");
+        BTSerial.println(buttonStates[i] == LOW ? "PRESSED" : "RELEASED");
+    }
+}

hardware/ML_model/mlModel/test/README

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+
+This directory is intended for PlatformIO Test Runner and project tests.
+
+Unit Testing is a software testing method by which individual units of
+source code, sets of one or more MCU program modules together with associated
+control data, usage procedures, and operating procedures, are tested to
+determine whether they are fit for use. Unit testing finds problems early
+in the development cycle.
+
+More information about PlatformIO Unit Testing:
+- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html