Integrate MPU-6050

[isch4196]

Task: Integrate the MPU-6050 to use its accelerometer and gyrometer for balancing.

• [x] Use IIO to integrate MPU-6050
• [x] Use PiGPIO to integrate MPU-6050
• [x] Test PiGPIO on raspiOS
• [x] Test PiGPIO on yocto build

Blockers:

• [x] Unable to add sysfs trigger to mpu-6050 iio (solved by moving to pigpio)

Status: Complete. See comment below.

[isch4196]

Successfully able to integrate pigpio with yocto build with commit 518971bc1e4c101eab0ea2f67ec602d652676abb. Originally, I was going to use IIO method, which is a more native way to integrate the mpu-6050 sensor. However, I couldn't get the sysfs trigger to work, which was essentially a trigger to get the accelerometer and gyroscope values upon a request for a sample. I ended up asking on different forums, but wasn't able to solve the problem, so I moved on to use pigpio. I had a bit of trouble with writing a recipe for it, but was eventually able to figure it out.