added reference for teensy / airlift example

reference/airLift_OSC_Orientation/AirLift_OCS_Orientation.ino

+//////////WIFI/////////
+#include <SPI.h>
+#include <WiFiNINA.h>
+#include <WiFiUdp.h>
+#include <OSCMessage.h>  /// https://github.com/CNMAT/OSC
+#include <OSCBundle.h>  /// https://github.com/CNMAT/OSC
+
+//////////PROP SHIELD/////////
+#include <NXPMotionSense.h>
+#include <Wire.h>
+#include <EEPROM.h>
+NXPMotionSense imu;
+NXPSensorFusion filter;
+float ax, ay, az;
+float gx, gy, gz;
+float mx, my, mz;
+float roll, pitch, heading;
+
+
+
+////WIFI CONFIG////////
+int status = WL_IDLE_STATUS;
+#include "arduino_secrets.h"
+///////please enter your sensitive data in the Secret tab/arduino_secrets.h
+char ssid[] = SECRET_SSID;        // your network SSID (name)
+char pass[] = SECRET_PASS;    // your network password (use for WPA, or use as key for WEP)
+const IPAddress outIp(SECRET_IP);     // remote IP of your computer
+const unsigned int outPort = SECRET_OUTPORT;          // remote port to receive OSC
+unsigned int localPort = 8888;      // local port to listen on
+
+int keyIndex = 0;            // your network key Index number (needed only for WEP)
+/**************************************************************************/
+
+WiFiUDP Udp;
+
+/**************************************************************************/
+
+long sendCount = 0;
+long frameCount = 0;
+void sendBundleViaOSC();
+int data = 0;
+/**************************************************************************/
+
+// Configure the pins used for the ESP32 connection
+#if defined(TEENSYDUINO)
+#define SPIWIFI       SPI  // The SPI port
+#define SPIWIFI_SS     5   // Chip select pin
+#define ESP32_RESETN   6   // Reset pin
+#define SPIWIFI_ACK    9   // a.k.a BUSY or READY pin
+#define ESP32_GPIO0   -1
+
+#elif !defined(SPIWIFI_SS)  // if the wifi definition isnt in the board variant
+// Don't change the names of these #define's! they match the variant ones
+#define SPIWIFI     SPI
+#define SPIWIFI_SS    10  // Chip select pin
+#define SPIWIFI_ACK   7   // a.k.a BUSY or READY pin
+#define ESP32_RESETN  5   // Reset pin
+#define ESP32_GPIO0   -1  // Not connected
+#endif
+
+void setup() {
+  // put your setup code here, to run once:
+  //Initialize serial and wait for port to open:
+  Serial.begin(9600);
+
+  ///////////WIFI/////////
+  while (!Serial) {
+    ; // wait for serial port to connect. Needed for native USB port only
+  }
+
+  
+  WiFi.setPins(SPIWIFI_SS, SPIWIFI_ACK, ESP32_RESETN, ESP32_GPIO0, &SPIWIFI);
+  // check for the WiFi module:
+  if (WiFi.status() == WL_NO_MODULE) {
+    Serial.println("Communication with WiFi module failed!");
+    // don't continue
+    while (true);
+  }
+
+  String fv = WiFi.firmwareVersion();
+  if (fv < "1.0.0") {
+    Serial.println("Please upgrade the firmware");
+  }
+
+  // attempt to connect to Wifi network:
+  while (status != WL_CONNECTED) {
+    Serial.print("Attempting to connect to SSID: ");
+    Serial.println(ssid);
+    // Connect to WPA/WPA2 network. Change this line if using open or WEP network:
+    status = WiFi.begin(ssid, pass);
+
+    // wait 10 seconds for connection:
+    delay(10000);
+  }
+  Serial.println("Connected to wifi");
+
+
+  Serial.println("\nStarting connection to server...");
+  // if you get a connection, report back via serial:
+  Udp.begin(localPort);
+
+  //////PROP SHIELD//////
+  imu.begin();
+  filter.begin(100);
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+
+ 
+
+
+  //increment sendcount
+  sendCount ++;
+  //if sendCount is over 1000 (1 second) send OSC info
+  if (sendCount > 1000)
+  {
+
+    sendViaOSC();//send messages
+
+    //sendBundleViaOSC()  //send bundle
+    //Serial.println("sendingdata");
+
+  }
+}
+
+void sendViaOSC() {
+   readSense();//READ THE PROP SHIELD SENSORS
+  //orientation
+  OSCMessage msg("/orientation");
+  msg.add((int32_t)heading);
+  msg.add((int32_t)pitch);
+  msg.add((int32_t)roll);
+
+  //send out
+  Udp.beginPacket(outIp, outPort);
+  msg.send(Udp);
+  Udp.endPacket();
+  msg.empty();
+  sendCount = 0;
+}
+
+void readSense() {
+
+
+  if (imu.available()) {
+    // Read the motion sensors
+    imu.readMotionSensor(ax, ay, az, gx, gy, gz, mx, my, mz);
+
+    // Update the SensorFusion filter
+    filter.update(gx, gy, gz, ax, ay, az, mx, my, mz);
+
+    // print the heading, pitch and roll
+    roll = filter.getRoll();
+    pitch = filter.getPitch();
+    heading = filter.getYaw();
+
+    Serial.print("a");
+    Serial.print(heading);
+    Serial.print("b");
+    Serial.print("c");
+    Serial.print(pitch);
+    Serial.print("d");
+    Serial.print("e");
+    Serial.println(roll);
+    Serial.print("f");
+
+  }
+}
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reference/airLift_OSC_Orientation/arduino_secrets.h

+#define SECRET_SSID "******"
+#define SECRET_PASS "*******"
+#define SECRET_IP 172, 20, 10, 8
+#define SECRET_OUTPORT 9999
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