mangavalkandClaude Opus 5.5
ad77b06c36
Robot-side firmware (Teensy 4.0) imported unchanged as extracted. platformio.ini defines [env:robot] (teensy40) and [env:remote] (teensy41); scripts/select_src_dir.py points each env at its own sketch folder so robot/ and remote/ stay Arduino-style sketches. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
19 lines
521 B
C++
19 lines
521 B
C++
#pragma once
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#include <Arduino.h>
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class RobotIMU {
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public:
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bool begin(); // returns false if the IMU didn't respond
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void update(float dt); // no-op if disabled or the IMU never came up
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float rollDeg() const { return roll_deg_; }
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float pitchDeg() const { return pitch_deg_; }
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bool enabled = true; // robot-gyro toggle from CmdPacket sets this
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private:
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float roll_deg_ = 0, pitch_deg_ = 0;
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bool ok_ = false;
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bool readRaw(float& ax, float& ay, float& az, float& gx, float& gy, float& gz);
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};
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