#pragma once
#include <Arduino.h>

class RobotIMU {
public:
  bool begin();          // returns false if the IMU didn't respond
  void update(float dt); // no-op if disabled or the IMU never came up
  float rollDeg()  const { return roll_deg_; }
  float pitchDeg() const { return pitch_deg_; }

  bool enabled = true;   // robot-gyro toggle from CmdPacket sets this

private:
  float roll_deg_ = 0, pitch_deg_ = 0;
  bool ok_ = false;

  bool readRaw(float& ax, float& ay, float& az, float& gx, float& gy, float& gz);
};