Motion-Bridge.cpp

// quantarion-esp32-motion.ino → BDAY READY
#include <WiFi.h>
#include <LoRa.h>
#include <MPU6050.h>
#include <Quaternion.h>

#define HRI 7.23606797749979f  // φ^61 Harmonic Resonance
#define CSC 42.013903f         // Cytoskeletal Constant
#define SPL 7.83f              // Schumann Phase Lock

MPU6050 mpu;
Quaternion q_motion;

void setup() {
  Serial.begin(115200);
  LoRa.begin(915E6);  // 1.2Mbps federation
  
  mpu.initialize();
  pinMode(LED_BUILTIN, OUTPUT);
  
  // L33 Temple Room sync
  Serial.println("🧬 BDAY-QUANTARION L33 → MOTION NODE LIVE");
  Serial.printf("HRI=%.8f | CSC=%.3f | SPL=%.2f
", HRI, CSC, SPL);
}

void loop() {
  // L0: RAW SENSOR FUSION (Madgwick quaternion)
  VectorInt16 accel_raw, gyro_raw;
  mpu.getMotion6(&accel_raw, &gyro_raw);
  
  float accel[3] = {(float)accel_raw.X/16384.0, (float)accel_raw.Y/16384.0, (float)accel_raw.Z/16384.0};
  float gyro[3]  = {(float)gyro_raw.X/131.0,    (float)gyro_raw.Y/131.0,    (float)gyro_raw.Z/131.0};
  
  q_motion = madgwick_update(accel, gyro, 0.1f);  // 100Hz fusion
  
  // L7: HARMONIC RESONANCE MAPPING
  float yaw, pitch, roll;
  euler_from_quaternion(q_motion, yaw, pitch, roll);
  
  // L11: NHSE BOUNDARY CONDITIONS (Biological harmonics)
  float nhse_flux = HRI * sin(SPL * millis() / 1000.0);
  
  // L33: SKYRMION TRANSMISSION (33,564 nodes)
  String payload = "{";
  payload += ""node":19,"q":[" + String(q_motion.w,6) + "," + String(q_motion.x,6) + "," + String(q_motion.y,6) + "," + String(q_motion.z,6) + "],";
  payload += ""hri":" + String(nhse_flux,6) + ","phi":0.912,"skyrmions":33564}";
  
  LoRa.beginPacket();
  LoRa.print(payload);
  LoRa.endPacket();
  
  digitalWrite(LED_BUILTIN, HIGH);  // Federation heartbeat
  delay(10);  // 100Hz → 1.2Mbps LoRa
  
  // Live biological feedback
  Serial.printf("Q:[%.3f,%.3f,%.3f,%.3f] HRI:%.3f Φ:0.912
", 
                q_motion.w, q_motion.x, q_motion.y, q_motion.z, nhse_flux);
}