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✨Feature/redundant imu#256

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HakopZ wants to merge 23 commits intomainEZ-Robotics/EZ-Template:mainfrom feature/redundant-imuEZ-Robotics/EZ-Template:feature/redundant-imuCopy head branch name to clipboard

+338-105

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Commits on Dec 24, 2024

• Made new file for imu redundancy check. Made imu a pointer, made a good imu collection and bad one, allowing for imus to swithc between the two. Also added deconstructor. Needs testing from jess fo…

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• Cleanup the imus once proven always invalid or disconnected.

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• Also added scaling stuff. Might need some clean up, and testing. But code looks fine on glance.

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• made the map map from id to scale val, cause keys in map are sortable(forgot and Imu is not sortable/comparable). now it compiles.

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Commits on Dec 29, 2024

• Tracking wheels clarified and measure offsets runs

  ssejrog

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Commits on Jan 1, 2025

• Right swings should now work

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• updated issue templates and ran clangd

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• 🐛 Right swings now work without flipping rotation axis

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• ⬆️v3.2.2

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• ⬆️Update build workflow

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Commits on Jan 2, 2025

• 🔀Backmerge dev into feature/redundant-imu

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• Cleaned formatting

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• IMU calibration deals with all IMUs now

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• Ensure imu calibration is complete before checking for bad IMUs

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Commits on Jan 5, 2025

• Added prev_imu_value, and comparing it to current value to check for disconnects. (As long as the two values are not equal to each other, won't disconnect). Needs to be tested. Removed the bad imu …

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Commits on Jan 6, 2025

• Added get angle but did not implement it yet. Will do so after meeting with jess.

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• Adding get angle, code isn't finished. need to. finish get_angle. implement get_encoder_angle, and odom one too. Also need to figure out how to set priority. After meeting with Jess, will fine tune…

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Commits on Jan 7, 2025

• Finished the function, needs to be reviewed for keeping with convention, and needs to be tested too. Checked all the imu and removed faulty ones. Need to be tested with prev_imu_values made. Need t…

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Commits on Jan 9, 2025

• Formatting

  ssejrog

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• Fixed typo and simplified

  ssejrog

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• IMU updates happen to all IMUs

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• Formatting

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• IMUs will become bad after 50ms

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