Refactor MPU6050 integration and remove obstacle avoidance

Replaced the 'MPU6050_tockn' library with 'electroniccats/MPU6050' and refactored the MotionTracker class for improved initialization, calibration, and data processing. Deleted the obstacle avoidance mode implementation (obstacle_avoidance.cpp/h). Updated main.cpp to demonstrate real-time MPU6050 data output. These changes streamline sensor handling and remove unused obstacle avoidance code.

Co-Authored-By: Oneli Wijesuriya <247418039+onelicodes@users.noreply.github.com>

Author: heyisula

ESP32-S3-Main/platformio.ini

@@ -19,12 +19,12 @@ lib_deps =
 	sparkfun/SparkFun MAX3010x Pulse and Proximity Sensor Library@^1.1.2
 	adafruit/Adafruit Unified Sensor@^1.1.15
 	hasenradball/AM2302-Sensor@^1.4.0
-	tockn/MPU6050_tockn@^1.5.2
 	ericksimoes/Ultrasonic@^3.0.0
 	panjkrc/tcs3200@^1.3.1
 	codingabi/KY040@^1.0.3
 	powerbroker2/SerialTransfer@^3.1.5
 	mobizt/Firebase ESP32 Client@^4.4.17
+	electroniccats/MPU6050@^1.4.4
 build_flags = 
 	-DARDUINO_USB_MODE=0
 	-DARDUINO_USB_CDC_ON_BOOT=0

ESP32-S3-Main/src/config/constants.h

@@ -1,4 +1,3 @@
-
 #ifndef CONSTANTS_H
 #define CONSTANTS_H
 

ESP32-S3-Main/src/main.cpp

@@ -1,11 +1,51 @@
 #include <Arduino.h>
+#include "sensors/mpu6050.h"
 
+MotionTracker motionTracker;
+unsigned long lastPrintTime = 0;
 
 void setup() {
+    Serial.begin(115200);
+    while (!Serial && millis() < 3000);
 
+    Serial.println("\n=== MPU6050 Motion Tracker ===");
+    Serial.println("Initializing...\n");
+    
+    if (!motionTracker.begin()) {
+        Serial.println("ERROR: MPU6050 initialization failed!");
+        while (1) delay(1000);
+    }
+    
+    Serial.println("MPU6050 initialized successfully!");
+    
+    motionTracker.autoCalibrate();
+    
+    Serial.println("--- Starting measurements ---\n");
+    Serial.println("Time(s) | Roll(°) | Pitch(°) | Fwd(g) | Side(g) | Mag(g) | RawX | RawY | RawZ");
+    Serial.println("--------|---------|----------|--------|---------|--------|------|------|------");
+    
+    lastPrintTime = millis();
 }
 
 void loop() {
+    motionTracker.update();
 
-    
-}
+    if (millis() - lastPrintTime >= 100) {
+        lastPrintTime = millis();
+        
+        float roll = motionTracker.getRoll();
+        float pitch = motionTracker.getPitch();
+        float fwd = motionTracker.getForwardAcceleration();
+        float side = motionTracker.getSideAcceleration();
+        float mag = motionTracker.getAccelMagnitude();
+        float rawX = motionTracker.getAccelX();
+        float rawY = motionTracker.getAccelY();
+        float rawZ = motionTracker.getAccelZ();
+        
+        char buf[150];
+        snprintf(buf, sizeof(buf),
+                 "%7.2f | %7.2f | %8.2f | %6.3f | %7.3f | %6.3f | %4.2f | %4.2f | %4.2f",
+                 millis()/1000.0, roll, pitch, fwd, side, mag, rawX, rawY, rawZ);
+        Serial.println(buf);
+    }
+}