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Need help - looking for training advice

Hello /ClimbingCircleTraining,
Long time lurker here, and first wanted to say thank you for being such an amazing community. I wouldn't be anywhere near my potential without you guys and gals. Much like you, I've been struggling with this whole pandemic quarantine business and I wanted to ask you all for some advice on starting my training program.
Many people out there are focused on doing various training programs and I'm having trouble getting started.
You could say I'm kind of a perfectionist, and not to mention a really deep philosophical climber. I have to get this perfect if I'm going to send the-mega-proj.

-My Typical Thinking About Starting To Train Training Days-

Part A: The Setup

  1. First, the thing I usually start with is your typical armchair thinking. I take advantage of the universal chin hold position right off the bat considering this has the greatest applicability. Plus I hear it's also helpful to have a free hand so that you can drink coffee while the thinking about training occurs.
  2. Next, I hear that its important to support the agonist musculature so I'll throw in another session of the supported chin hold position while I'm still in a seated position on the armchair. Mind you this is much less applicable to the universal due to the lack of variability with the other arm. I also find that since I am seated at this point I'll sometimes get cramps or weird slimy hands when I stay in this position too long. Even though it isn't as effective I hear I should still do it just to make sure I'm safe.
  3. After the armchair it's off to the big guns. I stand up and look out the window with the classic arm behind back posture. The natural light really helps my gears turn to make sure that I'm doing my best thinking. I find that it also is a natural chest opener which feels nice on the chest. One thing that's important from my personal experience is that weight shifting between each leg is super important to prevent injury. I've dealt with some knee and ankle stuff last year when I would stand too rigid while performing my thinking about training.
  4. From here it's just a natural transition into pacing which I will perform with and without window distraction. The window support can be nice to aid the thinking, but at times you need to really imagine yourself in the training basement cellar to really get the full thinking effect.
  5. Last but not least is the full supine layback. Super important to finish off the session with something a little bit easier on the brain and muscle tissue after all that thinking. Generally, I won't nap at this point but at times I've come up with some rad af beta in my dreams near the end of my session if I fall asleep. Again I'm taking very good care to think about all the variables here since context is everything. I tend to evenly split the layback both inside and outside with both soft and hard surfaces. I don't want to become overly conditioned to one form of the layback since it can be easy to fall into a hot puddle of goo if you keep thinking in one position for too long. Super important to switch it up, in my own humble opinion.

Part B: The Nuts and Bolts
So above I gave a pretty decent overview of the varying thinking about training days positions, but below are the actual thinking that is taking place with specifics. So for each set of position, I'm going to lay out the program WITHIN each position which will be as follows.

  1. Deep breathing / meditation. I heard this guy is pretty coolwith his whole method. Also have performed various trainings from thesefantastic people. Breathing and meditation are incredibly important for drying up your mind to allow for the brain to think its best thoughts kind of like when you chalk up before the send. 30 minutes minimum
  2. Then I move straight into thinking about the best hangboard protocol (or dongleboard, or daggleboard where y'all come from) for all the different aspects of climbing training. Should I perform repeaters on high volume active rest days? What about max weight full crimp on no-hang devices? These thoughts and many more are what fill this amount of time. 5 minutes on fresh days, 2 minutes when I'm feeling gassed
  3. Next I think super keenly on the benefits of campusing versus alternative high intensitysystem board work. I think these training programs deserve a lot of thought because our tissues only can take so much before they fail. It is imperative that we take advantage of the fresh days to get maximum gains, and putting the thought into which way to do this is probably the most important part of each set.15 minutes minimum
  4. Next is more of a cool off kind of thing, and it allows me to ponder the benefits of performing exercises on rest days. I'm still considering whether or not yoga should be considered a "rest" day activity or if I am still digging myself further into the recovery hole. Should I run or perform other aerobic activities? Does biking tax my forearms too much? Will my leg strength conflict with my ability to drop knee effectively? As you can see there is a lot of different material within this particular area of thinking about training so I try and limit myself to only 10 minutes
  5. Last but not least is my own type of method to try and become closer to the one. I essentially think about making my hands "bigger" and "fatter" so that I develop the nervous system better when I am actually performing training to mimic his hands. I find this extremely useful within the full supine layback position that I mentioned previously. 5-45 minutes depending on my freshness
So this series of 5 sets gets repeated within each of the 5 global positions that I mentioned previously (including the "alternate position" positions like "pacing with window support" and "layback outside on concrete" etc).
I appreciate it if you've made it this far, now I only have a few quick short questions. I would REALLY appreciate it.

  1. Given that my sessions tend to last 6+ hours these days, am I doing enough? Is this volume going to get me the gains needed to think about starting training?
  2. I was thinking about adding a more kinesthetic element to my training, would a stork pose be a good option? I just think that having six total positions would be much more... even. Maybe eagle stance? Let me know your thoughts.
  3. I'm wondering if my time under thought (also known as TUT in the training biz) is a little bit skewed towards the ultra high intensity dynamic training thinking. I feel like the hangboard needs a little bit more volume but at the same time my brain just feels so gassed after thinking so hard about. Right now the split is roughly 5 minutes of hangboard thinking for every 15 minutes of high intensity dynamic movement thinking. Should I adjust the volume ratios on this? Would I get the thinking required about hangboarding along with the high intensity plyometrics?
  4. A big section that I am missing in my thinking about starting training program (and I'm totally willing to admit this) is thinking about working on mental training. The problem I have about this aspect of thinking about training is, mental training is already thinking about training... right? So if I think about mental training, aren't I already mentally training? I think its super important to mentally train, don't get me wrong, but I think that the most important thing is to think about training first so that I get it right the first time I try and train. So do you see the dilemma I'm in regarding mentally training? Does that even make any sense? Maybe I could think about how to think about how to mentally train? I'm not even sure where to start on that though... potentially it could be a walk about thinking about maybe starting to write a blog about mental training? I'm just not sure it's worth my time is the problem... again I'd love to hear your thoughts on this subject.

I hope this is enough info to give you a context for how I'm thinking about progressing my thinking for training.

  1. https://image.shutterstock.com/image-photo/thinking-about-charming-young-man-260nw-1242213181.jpg
  2. https://previews.123rf.com/images/antonioguillem/antonioguillem1212/antonioguillem121200095/16961167-casual-man-thinking-with-a-hand-in-his-chin-and-a-white-isolated-background.jpg
  3. https://ssl.bigstockimages.com/4/2/2/large1500/224416660.jpg
  4. https://media1.tenor.com/images/93e0431054a5b02b994f080194b805ef/tenor.gif?itemid=15405720
  5. https://i.pinimg.com/originals/6b/78/18/6b7818ece25957af796ebf211f598a4f.gif
  6. https://www.hxchector.com/wp-content/uploads/2013/12/love_hina_pacing.gif
  7. https://media.istockphoto.com/photos/white-man-laying-on-a-diving-board-on-his-back-relaxing-in-the-sun-picture-id1135816693
  8. https://link.springer.com/chapte10.1007/978-3-642-69382-3_7
  9. https://cdn.i-scmp.com/sites/default/files/styles/768x768/public/d8/images/methode/2019/10/21/dc71db08-eb33-11e9-9e8e-4022fb9638c4_image_hires_102008.jpg?itok=lsjbi2Nf&v=1571624415
  10. https://upload.wikimedia.org/wikipedia/commons/5/55/Dalailama1_20121014_4639.jpg
  11. https://upload.wikimedia.org/wikipedia/commons/1/16/Sam_Harris_2016_%28cropped%29.jpg
  12. https://www.bucknell.edu/sites/default/files/styles/2_1_l/public/libris/C00001GOQFVeT0YE/G0000xGr1JWPRvo0//OctAerials010.jpg?h=2e976bc2
  13. https://metro.co.uk/wp-content/uploads/2019/03/whatamaleorgasmactuallyfeelslike-5fa3-f85b.jpg?quality=90&strip=all
  14. https://images.squarespace-cdn.com/content/v1/546142c8e4b054a6f8697e49/1556641049567-FKA1IBCFTFQ6LSYLFDDW/ke17ZwdGBToddI8pDm48kMXRibDYMhUiookWqwUxEZ97gQa3H78H3Y0txjaiv_0fDoOvxcdMmMKkDsyUqMSsMWxHk725yiiHCCLfrh8O1z4YTzHvnKhyp6Da-NYroOW3ZGjoBKy3azqku80C789l0luUmcNM2NMBIHLdYyXL-Jww_XBra4mrrAHD6FMA3bNKOBm5vyMDUBjVQdcIrt03OQ/Crossley_20190405_SAMC3961.jpg
  15. https://www.quartoknows.com/blog/quartolives/wp-content/uploads/sites/11/2016/04/jennifer-decurtins-complete-guide-to-yoga-inversions-eagle.png
  16. https://thumbs.dreamstime.com/z/man-lying-his-back-grass-hands-behind-head-side-view-shorts-no-shirts-41052207.jpg
  17. https://cdn1.theinertia.com/wp-content/uploads/2020/01/alex-honnold.jpg
submitted by stoked_elephant to ClimbingCircleJerk

Help: Sparkfun mpu-9250 tutorial returns alot of errors

I was going off this tutorial for the mpu-9250 on sparkfun's website and I modified the code for my circumstances on the node mcu esp32s board. Ill show the code here but it shoudltn be too different:
/* MPU9250 Basic Example Code by: Kris Winer date: April 1, 2014 license: Beerware - Use this code however you'd like. If you find it useful you can buy me a beer some time. Modified by Brent Wilkins July 19, 2016 Demonstrate basic MPU-9250 functionality including parameterizing the register addresses, initializing the sensor, getting properly scaled accelerometer, gyroscope, and magnetometer data out. Added display functions to allow display to on breadboard monitor. Addition of 9 DoF sensor fusion using open source Madgwick and Mahony filter algorithms. Sketch runs on the 3.3 V 8 MHz Pro Mini and the Teensy 3.1. SDA and SCL should have external pull-up resistors (to 3.3V). 10k resistors are on the EMSENSR-9250 breakout board. Hardware setup: MPU9250 Breakout --------- ESP32 VDD ---------------------- 3.3V VDDI --------------------- 3.3V SDA ----------------------- GPIO21 SCL ----------------------- GPIO22 GND ---------------------- GND */ #include "quaternionFilters.h" #include  #include  #include "MPU9250.h" #include "WiFi.h" // Declination of SparkFun Electronics (40°05'26.6"N 105°11'05.9"W) is // 8° 30' E ± 0° 21' (or 8.5°) on 2016-07-19 // - http://www.ngdc.noaa.gov/geomag-web/#declination #define DECLINATION 4 #define AHRS false // Set to false for basic data read #define SerialDebug true // Set to true to get Serial output for debugging #define CLIENT_COUNT 5 // Maximum amount of clients allowed on server // Pin definitions int intPin = 25; // These can be changed to any GPIO pin on the esp32 int buttonAPin = 26; // Pin for button A int buttonBPin = 27; // Pin for button B int vibrationPin = 14; // Pin for vibration motor // WiFi settings const char *ssid = "VRControllers"; const char *password = "VRControllers"; WiFiServer server(5000); WiFiClient clients[CLIENT_COUNT]; // Global variables String message = "L"; bool vibrate = false; int aVal = 0; int bVal = 0; #define I2Cclock 400000 #define I2Cport Wire #define MPU9250_ADDRESS MPU9250_ADDRESS_AD0 // Use either this line or the next to select which I2C address your device is using //#define MPU9250_ADDRESS MPU9250_ADDRESS_AD1 MPU9250 myIMU(MPU9250_ADDRESS, I2Cport, I2Cclock); void setup() { delay(100); Wire.begin(); // TWBR = 12; // 400 kbit/sec I2C speed Serial.begin(38400); while(!Serial){}; WiFi.mode(WIFI_AP); WiFi.softAP(ssid, password); Serial.println(); Serial.print("IP address: "); Serial.println(WiFi.softAPIP()); server.begin(); server.setNoDelay(true); // Set up the interrupt pin, its set as active high, push-pull pinMode(intPin, INPUT); digitalWrite(intPin, LOW); pinMode(buttonAPin, INPUT); pinMode(buttonBPin, INPUT); pinMode(vibrationPin, OUTPUT); // Read the WHO_AM_I register, this is a good test of communication byte c = myIMU.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250); Serial.print(F("MPU9250 I AM 0x")); Serial.print(c, HEX); Serial.print(F(" I should be 0x")); Serial.println(0x71, HEX); if (c == 0x71) // WHO_AM_I should always be 0x71 { Serial.println(F("MPU9250 is online...")); // Start by performing self test and reporting values myIMU.MPU9250SelfTest(myIMU.selfTest); Serial.print(F("x-axis self test: acceleration trim within : ")); Serial.print(myIMU.selfTest[0],1); Serial.println("% of factory value"); Serial.print(F("y-axis self test: acceleration trim within : ")); Serial.print(myIMU.selfTest[1],1); Serial.println("% of factory value"); Serial.print(F("z-axis self test: acceleration trim within : ")); Serial.print(myIMU.selfTest[2],1); Serial.println("% of factory value"); Serial.print(F("x-axis self test: gyration trim within : ")); Serial.print(myIMU.selfTest[3],1); Serial.println("% of factory value"); Serial.print(F("y-axis self test: gyration trim within : ")); Serial.print(myIMU.selfTest[4],1); Serial.println("% of factory value"); Serial.print(F("z-axis self test: gyration trim within : ")); Serial.print(myIMU.selfTest[5],1); Serial.println("% of factory value"); // Calibrate gyro and accelerometers, load biases in bias registers myIMU.calibrateMPU9250(myIMU.gyroBias, myIMU.accelBias); myIMU.initMPU9250(); // Initialize device for active mode read of acclerometer, gyroscope, and // temperature Serial.println("MPU9250 initialized for active data mode...."); // Read the WHO_AM_I register of the magnetometer, this is a good test of // communication byte d = myIMU.readByte(AK8963_ADDRESS, WHO_AM_I_AK8963); Serial.print("AK8963 "); Serial.print("I AM 0x"); Serial.print(d, HEX); Serial.print(" I should be 0x"); Serial.println(0x48, HEX); if (d != 0x48) { // Communication failed, stop here Serial.println(F("Communication failed, abort!")); Serial.flush(); abort(); } // Get magnetometer calibration from AK8963 ROM myIMU.initAK8963(myIMU.factoryMagCalibration); // Initialize device for active mode read of magnetometer Serial.println("AK8963 initialized for active data mode...."); if (SerialDebug) { // Serial.println("Calibration values: "); Serial.print("X-Axis factory sensitivity adjustment value "); Serial.println(myIMU.factoryMagCalibration[0], 2); Serial.print("Y-Axis factory sensitivity adjustment value "); Serial.println(myIMU.factoryMagCalibration[1], 2); Serial.print("Z-Axis factory sensitivity adjustment value "); Serial.println(myIMU.factoryMagCalibration[2], 2); } // Get sensor resolutions, only need to do this once myIMU.getAres(); myIMU.getGres(); myIMU.getMres(); // The next call delays for 4 seconds, and then records about 15 seconds of // data to calculate bias and scale. // myIMU.magCalMPU9250(myIMU.magBias, myIMU.magScale); Serial.println("AK8963 mag biases (mG)"); Serial.println(myIMU.magBias[0]); Serial.println(myIMU.magBias[1]); Serial.println(myIMU.magBias[2]); Serial.println("AK8963 mag scale (mG)"); Serial.println(myIMU.magScale[0]); Serial.println(myIMU.magScale[1]); Serial.println(myIMU.magScale[2]); // delay(2000); // Add delay to see results before serial spew of data if(SerialDebug) { Serial.println("Magnetometer:"); Serial.print("X-Axis sensitivity adjustment value "); Serial.println(myIMU.factoryMagCalibration[0], 2); Serial.print("Y-Axis sensitivity adjustment value "); Serial.println(myIMU.factoryMagCalibration[1], 2); Serial.print("Z-Axis sensitivity adjustment value "); Serial.println(myIMU.factoryMagCalibration[2], 2); } } // if (c == 0x71) else { Serial.print("Could not connect to MPU9250: 0x"); Serial.println(c, HEX); // Communication failed, stop here Serial.println(F("Communication failed, abort!")); Serial.flush(); abort(); } } void updateClients(){ WiFiClient newClient = server.available(); bool present = false; String line; for(int sta = 0; sta < CLIENT_COUNT; sta++){ present = clients[sta].remoteIP() == newClient.remoteIP() ? true : present; if((!clients[sta] || !clients[sta].connected()) && !present && newClient){ clients[sta] = newClient; present = true; Serial.println("New Connection"); } if(clients[sta].available()){ line = newClient.readStringUntil('\n'); if(line[0] == 'R'){ message += line + "\n"; } else if(line == "toggleL"){ vibrate = !vibrate; } else if(line == "toggleR"){ msgAllClients("toggleR"); } } } } void msgAllClients(String sendLine){ for(int sta = 0; sta < CLIENT_COUNT; sta++){ if(clients[sta]){ clients[sta].flush(); clients[sta].print(sendLine); } } } void loop() { updateClients(); // If intPin goes high, all data registers have new data // On interrupt, check if data ready interrupt if (myIMU.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) { myIMU.readAccelData(myIMU.accelCount); // Read the x/y/z adc values // Now we'll calculate the accleration value into actual g's // This depends on scale being set myIMU.ax = (float)myIMU.accelCount[0] * myIMU.aRes; // - myIMU.accelBias[0]; myIMU.ay = (float)myIMU.accelCount[1] * myIMU.aRes; // - myIMU.accelBias[1]; myIMU.az = (float)myIMU.accelCount[2] * myIMU.aRes; // - myIMU.accelBias[2]; myIMU.readGyroData(myIMU.gyroCount); // Read the x/y/z adc values // Calculate the gyro value into actual degrees per second // This depends on scale being set myIMU.gx = (float)myIMU.gyroCount[0] * myIMU.gRes; myIMU.gy = (float)myIMU.gyroCount[1] * myIMU.gRes; myIMU.gz = (float)myIMU.gyroCount[2] * myIMU.gRes; myIMU.readMagData(myIMU.magCount); // Read the x/y/z adc values // Calculate the magnetometer values in milliGauss // Include factory calibration per data sheet and user environmental // corrections // Get actual magnetometer value, this depends on scale being set myIMU.mx = (float)myIMU.magCount[0] * myIMU.mRes * myIMU.factoryMagCalibration[0] - myIMU.magBias[0]; myIMU.my = (float)myIMU.magCount[1] * myIMU.mRes * myIMU.factoryMagCalibration[1] - myIMU.magBias[1]; myIMU.mz = (float)myIMU.magCount[2] * myIMU.mRes * myIMU.factoryMagCalibration[2] - myIMU.magBias[2]; } // if (readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) // Must be called before updating quaternions! myIMU.updateTime(); // Sensors x (y)-axis of the accelerometer is aligned with the y (x)-axis of // the magnetometer; the magnetometer z-axis (+ down) is opposite to z-axis // (+ up) of accelerometer and gyro! We have to make some allowance for this // orientationmismatch in feeding the output to the quaternion filter. For the // MPU-9250, we have chosen a magnetic rotation that keeps the sensor forward // along the x-axis just like in the LSM9DS0 sensor. This rotation can be // modified to allow any convenient orientation convention. This is ok by // aircraft orientation standards! Pass gyro rate as rad/s MahonyQuaternionUpdate(myIMU.ax, myIMU.ay, myIMU.az, myIMU.gx * DEG_TO_RAD, myIMU.gy * DEG_TO_RAD, myIMU.gz * DEG_TO_RAD, myIMU.my, myIMU.mx, myIMU.mz, myIMU.deltat); if (!AHRS) { myIMU.delt_t = millis() - myIMU.count; if (myIMU.delt_t > 500) { if(SerialDebug) { // Print acceleration values in milligs! Serial.print("X-acceleration: "); Serial.print(1000 * myIMU.ax); Serial.print(" mg "); Serial.print("Y-acceleration: "); Serial.print(1000 * myIMU.ay); Serial.print(" mg "); Serial.print("Z-acceleration: "); Serial.print(1000 * myIMU.az); Serial.println(" mg "); // Print gyro values in degree/sec Serial.print("X-gyro rate: "); Serial.print(myIMU.gx, 3); Serial.print(" degrees/sec "); Serial.print("Y-gyro rate: "); Serial.print(myIMU.gy, 3); Serial.print(" degrees/sec "); Serial.print("Z-gyro rate: "); Serial.print(myIMU.gz, 3); Serial.println(" degrees/sec"); // Print mag values in degree/sec Serial.print("X-mag field: "); Serial.print(myIMU.mx); Serial.print(" mG "); Serial.print("Y-mag field: "); Serial.print(myIMU.my); Serial.print(" mG "); Serial.print("Z-mag field: "); Serial.print(myIMU.mz); Serial.println(" mG"); myIMU.tempCount = myIMU.readTempData(); // Read the adc values // Temperature in degrees Centigrade myIMU.temperature = ((float) myIMU.tempCount) / 333.87 + 21.0; // Print temperature in degrees Centigrade Serial.print("Temperature is "); Serial.print(myIMU.temperature, 1); Serial.println(" degrees C"); } myIMU.count = millis(); } // if (myIMU.delt_t > 500) } // if (!AHRS) else { // Serial print and/or display at 0.5 s rate independent of data rates myIMU.delt_t = millis() - myIMU.count; // update values once per half-second independent of read rate if (myIMU.delt_t > 500) { if(SerialDebug) { Serial.print("ax = "); Serial.print((int)1000 * myIMU.ax); Serial.print(" ay = "); Serial.print((int)1000 * myIMU.ay); Serial.print(" az = "); Serial.print((int)1000 * myIMU.az); Serial.println(" mg"); Serial.print("gx = "); Serial.print(myIMU.gx, 2); Serial.print(" gy = "); Serial.print(myIMU.gy, 2); Serial.print(" gz = "); Serial.print(myIMU.gz, 2); Serial.println(" deg/s"); Serial.print("mx = "); Serial.print((int)myIMU.mx); Serial.print(" my = "); Serial.print((int)myIMU.my); Serial.print(" mz = "); Serial.print((int)myIMU.mz); Serial.println(" mG"); Serial.print("q0 = "); Serial.print(*getQ()); Serial.print(" qx = "); Serial.print(*(getQ() + 1)); Serial.print(" qy = "); Serial.print(*(getQ() + 2)); Serial.print(" qz = "); Serial.println(*(getQ() + 3)); } // Define output variables from updated quaternion---these are Tait-Bryan // angles, commonly used in aircraft orientation. In this coordinate system, // the positive z-axis is down toward Earth. Yaw is the angle between Sensor // x-axis and Earth magnetic North (or true North if corrected for local // declination, looking down on the sensor positive yaw is counterclockwise. // Pitch is angle between sensor x-axis and Earth ground plane, toward the // Earth is positive, up toward the sky is negative. Roll is angle between // sensor y-axis and Earth ground plane, y-axis up is positive roll. These // arise from the definition of the homogeneous rotation matrix constructed // from quaternions. Tait-Bryan angles as well as Euler angles are // non-commutative; that is, the get the correct orientation the rotations // must be applied in the correct order which for this configuration is yaw, // pitch, and then roll. // For more see // http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles // which has additional links. myIMU.yaw = atan2(2.0f * (*(getQ()+1) * *(getQ()+2) + *getQ() * *(getQ()+3)), *getQ() * *getQ() + *(getQ()+1) * *(getQ()+1) - *(getQ()+2) * *(getQ()+2) - *(getQ()+3) * *(getQ()+3)); myIMU.pitch = -asin(2.0f * (*(getQ()+1) * *(getQ()+3) - *getQ() * *(getQ()+2))); myIMU.roll = atan2(2.0f * (*getQ() * *(getQ()+1) + *(getQ()+2) * *(getQ()+3)), *getQ() * *getQ() - *(getQ()+1) * *(getQ()+1) - *(getQ()+2) * *(getQ()+2) + *(getQ()+3) * *(getQ()+3)); myIMU.pitch *= RAD_TO_DEG; myIMU.yaw *= RAD_TO_DEG; myIMU.yaw -= DECLINATION; myIMU.roll *= RAD_TO_DEG; if(SerialDebug) { Serial.print("Yaw, Pitch, Roll: "); Serial.print(myIMU.yaw, 2); Serial.print(", "); Serial.print(myIMU.pitch, 2); Serial.print(", "); Serial.println(myIMU.roll, 2); Serial.print("rate = "); Serial.print((float)myIMU.sumCount / myIMU.sum, 2); Serial.println(" Hz"); } myIMU.count = millis(); myIMU.sumCount = 0; myIMU.sum = 0; } // if (myIMU.delt_t > 500) } // if (AHRS) aVal = digitalRead(buttonAPin); bVal = digitalRead(buttonBPin); digitalWrite(vibrationPin, vibrate ? HIGH : LOW); msgAllClients(message); message = "L"; } 
Its not finished, but I wanted to verify it because it shouldnt have compiler errors anyway, yet when I run the code I get this long nasty error message:
Arduino: 1.8.12 (Windows 10), Board: "NodeMCU-32S, 80MHz, 921600" C:\Users\mlfre\OneDrive\Documents\Arduino\libraries\SparkFun_MPU-9250_Breakout_Arduino_Library-master\src\MPU9250.cpp: In member function 'void MPU9250::magCalMPU9250(float*, float*)': C:\Users\mlfre\OneDrive\Documents\Arduino\libraries\SparkFun_MPU-9250_Breakout_Arduino_Library-master\src\MPU9250.cpp:634:3: error: 'Serial' was not declared in this scope Serial.println(F("Mag Calibration: Wave device in a figure 8 until done!")); ^ C:\Users\mlfre\OneDrive\Documents\Arduino\libraries\SparkFun_MPU-9250_Breakout_Arduino_Library-master\src\MPU9250.cpp: In member function 'uint8_t MPU9250::writeByteSPI(uint8_t, uint8_t)': C:\Users\mlfre\OneDrive\Documents\Arduino\libraries\SparkFun_MPU-9250_Breakout_Arduino_Library-master\src\MPU9250.cpp:730:55: error: 'MSBFIRST' was not declared in this scope _spi->beginTransaction(SPISettings(_interfaceSpeed, MSBFIRST, SPI_MODE)); ^ C:\Users\mlfre\OneDrive\Documents\Arduino\libraries\SparkFun_MPU-9250_Breakout_Arduino_Library-master\src\MPU9250.cpp: In member function 'uint8_t MPU9250::readMagByteSPI(uint8_t)': C:\Users\mlfre\OneDrive\Documents\Arduino\libraries\SparkFun_MPU-9250_Breakout_Arduino_Library-master\src\MPU9250.cpp:797:5: error: 'Serial' was not declared in this scope Serial.println(F("Timed out")); ^ C:\Users\mlfre\OneDrive\Documents\Arduino\libraries\SparkFun_MPU-9250_Breakout_Arduino_Library-master\src\MPU9250.cpp: In member function 'uint8_t MPU9250::writeMagByteSPI(uint8_t, uint8_t)': C:\Users\mlfre\OneDrive\Documents\Arduino\libraries\SparkFun_MPU-9250_Breakout_Arduino_Library-master\src\MPU9250.cpp:823:5: error: 'Serial' was not declared in this scope Serial.println(F("Timed out")); ^ C:\Users\mlfre\OneDrive\Documents\Arduino\libraries\SparkFun_MPU-9250_Breakout_Arduino_Library-master\src\MPU9250.cpp: In member function 'uint8_t MPU9250::readBytesSPI(uint8_t, uint8_t, uint8_t*)': C:\Users\mlfre\OneDrive\Documents\Arduino\libraries\SparkFun_MPU-9250_Breakout_Arduino_Library-master\src\MPU9250.cpp:891:53: error: 'MSBFIRST' was not declared in this scope _spi->beginTransaction(SPISettings(SPI_DATA_RATE, MSBFIRST, SPI_MODE)); ^ C:\Users\mlfre\OneDrive\Documents\Arduino\libraries\SparkFun_MPU-9250_Breakout_Arduino_Library-master\src\MPU9250.cpp: In member function 'bool MPU9250::magInit()': C:\Users\mlfre\OneDrive\Documents\Arduino\libraries\SparkFun_MPU-9250_Breakout_Arduino_Library-master\src\MPU9250.cpp:998:3: error: 'Serial' was not declared in this scope Serial.print("MPU9250::magInit to return "); ^ C:\Users\mlfre\OneDrive\Documents\Arduino\libraries\SparkFun_MPU-9250_Breakout_Arduino_Library-master\src\MPU9250.cpp: In member function 'void MPU9250::kickHardware()': C:\Users\mlfre\OneDrive\Documents\Arduino\libraries\SparkFun_MPU-9250_Breakout_Arduino_Library-master\src\MPU9250.cpp:1007:53: error: 'MSBFIRST' was not declared in this scope _spi->beginTransaction(SPISettings(SPI_DATA_RATE, MSBFIRST, SPI_MODE)); ^ C:\Users\mlfre\OneDrive\Documents\Arduino\libraries\SparkFun_MPU-9250_Breakout_Arduino_Library-master\src\MPU9250.cpp: In member function 'uint8_t MPU9250::ak8963WhoAmI_SPI()': C:\Users\mlfre\OneDrive\Documents\Arduino\libraries\SparkFun_MPU-9250_Breakout_Arduino_Library-master\src\MPU9250.cpp:1028:3: error: 'Serial' was not declared in this scope Serial.print("Old slave address: 0x"); ^ Multiple libraries were found for "WiFi.h" Used: C:\Users\mlfre\AppData\Local\Arduino15\packages\esp32\hardware\esp32\1.0.4\libraries\WiFi Not used: C:\Program Files (x86)\Arduino\libraries\WiFi exit status 1 Error compiling for board NodeMCU-32S. This report would have more information with "Show verbose output during compilation" option enabled in File -> Preferences. 
And this error seems to be coming from the library's sparkfun provided for me. I tried re-downloading them if they mightve gotten corrupted but to no avail. Maybe you guys could make some more sense out of this then me, because google showed to be not much help either. Thank you guys so much! =D
submitted by HeyoGuys to arduino

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