the-mvc-arduino.ino

#include <BMI160.h>
#include <CurieIMU.h>
#include "CurieIMU.h"
#include "CurieBLE.h"
#include <Math.h>

BLEPeripheral blePeripheral;
BLEService cursorService("19B10010-E8F2-537E-4F6C-D104768A1214");

BLECharCharacteristic yCharacteristic("19B10012-E8F2-537E-4F6C-D104768A1216", BLERead | BLENotify);
BLECharCharacteristic zCharacteristic("19B10012-E8F2-537E-4F6C-D104768A1215", BLERead | BLENotify);

const int ledPin = 13;

void setup() {
  Serial.begin(9600); // initialize Serial communication
  while (!Serial);    // wait for the serial port to open

  pinMode(ledPin, OUTPUT);

  blePeripheral.setLocalName("water");
  blePeripheral.setAdvertisedServiceUuid(cursorService.uuid());

  blePeripheral.addAttribute(cursorService);
  blePeripheral.addAttribute(yCharacteristic);
  blePeripheral.addAttribute(zCharacteristic);

  yCharacteristic.setValue(0);
  zCharacteristic.setValue(0);

  blePeripheral.begin();
  Serial.println("Bluetooth device active, waiting for connections....");
  // initialize device
  Serial.println("Initializing IMU device...");
  CurieIMU.begin();

  // Set the accelerometer range to 250 degrees/second
  CurieIMU.setGyroRange(250);
}

void loop() {
  BLECentral central = blePeripheral.central();
  if(central.connected()){
	digitalWrite(ledPin, HIGH);	

    int gxRaw, gyRaw, gzRaw;         // raw gyro values
    int finalX, finalY, finalZ;
    float gx, gy, gz;

    CurieIMU.readGyro(gxRaw, gyRaw, gzRaw);

    gy = convertRawGyro(gyRaw);
    gz = convertRawGyro(gzRaw);

    yCharacteristic.setValue(gy);
    zCharacteristic.setValue(gz);

  } else {
	digitalWrite(ledPin, LOW);
  }
  Serial.println();
}

float convertRawGyro(int gRaw) {
  float g = (gRaw * 250.0) / 32768.0;
  return g;
}