mangavalkandClaude Opus 5.5
91dac16fca
Not yet verified on hardware. - shared/HexapodProtocol: CmdPacket (now 20 bytes, adds remote_roll / remote_pitch), FLAG_* bits and radio settings as the single protocol definition; static payload size = sizeof(CmdPacket) on both radios. - robot: use the shared protocol; vx = forward (harness w/x <-> q/e); InputMapper adds remote tilt on top of the right stick when FLAG_REMOTE_GYRO is set, and robot.ino no longer zeroes stick roll/pitch when it's off. - remote (Teensy 4.1): Sticks (calibration, EEPROM), RemoteIMU, RemoteState (interlocks, link-loss disarm, smoothing), PacketBuilder, RadioLink, NextionUI, SerialConsole. - CLAUDE.md, README.md, remote/README.md, remote/NEXTION.md. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
29 lines
1.0 KiB
C++
29 lines
1.0 KiB
C++
#pragma once
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#include <Arduino.h>
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// Handset attitude from an MPU6050: same complementary filter as the robot's
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// RobotIMU, plus a mounting-orientation remap, boot-time gyro bias capture,
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// and a "level" reference so the operator's natural holding angle reads as 0.
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class RemoteIMU {
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public:
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bool begin(); // false if the IMU didn't respond; hold the remote still during this
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void update(float dt); // no-op if the IMU never came up
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bool ok() const { return ok_; }
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// Tilt relative to the zeroed level pose, degrees, handset frame
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// (+roll = right side down, +pitch = far edge down).
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float rollDeg() const { return roll_deg_ - zero_roll_; }
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float pitchDeg() const { return pitch_deg_ - zero_pitch_; }
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void zeroLevel() { zero_roll_ = roll_deg_; zero_pitch_ = pitch_deg_; }
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private:
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float roll_deg_ = 0, pitch_deg_ = 0;
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float zero_roll_ = 0, zero_pitch_ = 0;
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float gyro_bias_[3] = {};
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bool ok_ = false;
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// Reads and remaps into the handset frame. Accel in g, gyro in deg/s.
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bool readRaw(float a[3], float g[3]);
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};
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