initSensors.ino

void initBMX() {
  // Try to initialize!
  if (!mpu.begin()) {
    Serial.println("Failed to find MPU6050 chip");
  } else {
    Serial.println("MPU6050 Found!");
    mpu.setAccelerometerRange(MPU6050_RANGE_8_G);
    Serial.print("Accelerometer range set to: ");
    switch (mpu.getAccelerometerRange()) {
      case MPU6050_RANGE_2_G:
        Serial.println("+-2G");
        break;
      case MPU6050_RANGE_4_G:
        Serial.println("+-4G");

        break;
      case MPU6050_RANGE_8_G:
        Serial.println("+-8G");
        break;
      case MPU6050_RANGE_16_G:
        Serial.println("+-16G");
        break;
    }
    mpu.setGyroRange(MPU6050_RANGE_500_DEG);
    Serial.print("Gyro range set to: ");
    switch (mpu.getGyroRange()) {
      case MPU6050_RANGE_250_DEG:
        Serial.println("+- 250 deg/s");
        break;
      case MPU6050_RANGE_500_DEG:
        Serial.println("+- 500 deg/s");
        break;
      case MPU6050_RANGE_1000_DEG:
        Serial.println("+- 1000 deg/s");
        break;
      case MPU6050_RANGE_2000_DEG:
        Serial.println("+- 2000 deg/s");
        break;
    }

    mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);
    Serial.print("Filter bandwidth set to: ");

    switch (mpu.getFilterBandwidth()) {
      case MPU6050_BAND_260_HZ:
        Serial.println("260 Hz");
        break;
      case MPU6050_BAND_184_HZ:
        Serial.println("184 Hz");
        break;
      case MPU6050_BAND_94_HZ:
        Serial.println("94 Hz");
        break;
      case MPU6050_BAND_44_HZ:
        Serial.println("44 Hz");
        break;
      case MPU6050_BAND_21_HZ:
        Serial.println("21 Hz");
        break;
      case MPU6050_BAND_10_HZ:
        Serial.println("10 Hz");
        break;
      case MPU6050_BAND_5_HZ:
        Serial.println("5 Hz");
        break;
    }
  }
  delay(100);
};


void initUltrasonic() {
  //pinmodes for ultrasonic
  pinMode(TRIGGER_LEFT, OUTPUT);
  pinMode(ECHO_LEFT, INPUT);
  // pinMode(TRIGGER_RIGHT, OUTPUT);
  // pinMode(ECHO_RIGHT, INPUT);
};

void initSPS() {
  int errorCount = 0;
  int16_t ret;
  uint8_t auto_clean_days = 4;
  uint32_t auto_clean;

  delay(2000);

  sensirion_i2c_init();
  while (sps30_probe() != 0) {
    Serial.print("SPS sensor probing failed\n");
    delay(500);
  }
  ret = sps30_set_fan_auto_cleaning_interval_days(auto_clean_days);
  if (ret) {
    Serial.print("error setting the auto-clean interval: ");
    Serial.println(ret);
  }

  ret = sps30_start_measurement();
  if (ret < 0) {
    Serial.print("error starting measurement\n");
  }
  Serial.println("Starting SPS Measurements");
}

void initGPS() {
  Serial1.begin(9600);
};