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Gyropode

compile and run the main code

g++ ~/Gyropode/main.cpp -O3 -o main.out -l bcm2835 -pthread && sudo ./main.out

main code + gyro

g++ ~/Gyropode/main.cpp -O3 -o main.out -l bcm2835 -pthread -I ~/Gyropode/i2cdevlib/RaspberryPi_bcm2835/I2Cdev ~/Gyropode/i2cdevlib/RaspberryPi_bcm2835/I2Cdev/I2Cdev.cpp -I ~/Gyropode/i2cdevlib/RaspberryPi_bcm2835/MPU6050/ ~/Gyropode/i2cdevlib/RaspberryPi_bcm2835/MPU6050/MPU6050.cpp && sudo ./main.out

compile and run the gyro code

g++ ~/Gyropode/gyro_test.cpp -I ~/Gyropode/i2cdevlib/RaspberryPi_bcm2835/I2Cdev ~/Gyropode/i2cdevlib/RaspberryPi_bcm2835/I2Cdev/I2Cdev.cpp -I ~/Gyropode/i2cdevlib/RaspberryPi_bcm2835/MPU6050/ ~/Gyropode/i2cdevlib/RaspberryPi_bcm2835/MPU6050/MPU6050.cpp -l bcm2835 -o gyro.out

disable the motors

gpio write 25 1