ESP32 IMU telemetry over Wi-Fi TCP

Read the implementation

code2.txt — timed acquisition and CSV transmission. Network credentials are excluded.

  unsigned long now = millis();

  // Sample every SAMPLE_INTERVAL_MS
  if (now - lastSampleMs >= SAMPLE_INTERVAL_MS) {
    lastSampleMs = now;

    sensors_event_t a, g, temp;
    mpu.getEvent(&a, &g, &temp);

    if (client && client.connected()) {
      // csv: t_ms,ax,ay,az,gx,gy,gz
      char buf[160];
      int n = snprintf(
        buf, sizeof(buf),
        "%lu,%.6f,%.6f,%.6f,%.6f,%.6f,%.6f\n",
        now,
        a.acceleration.x,
        a.acceleration.y,
        a.acceleration.z,
        g.gyro.x,
        g.gyro.y,
        g.gyro.z
      );
      if (n > 0) {
        client.write((const uint8_t*)buf, n);
      }