please build i need this

Author: techcatgato

pybricks/experimental/odometry.h

@@ -0,0 +1,9 @@
+#ifndef PYBRICKS_EXPERIMENTAL_ODOMETRY_H
+#define PYBRICKS_EXPERIMENTAL_ODOMETRY_H
+
+#include "py/obj.h"
+
+// The signature must use float to match the core and avoid double-promotion errors
+mp_obj_t calculate_odometry(int num_iters, float wheel_circ, float axle_track, mp_obj_t right_angle_func, mp_obj_t left_angle_func);
+
+#endif // PYBRICKS_EXPERIMENTAL_ODOMETRY_H

pybricks/experimental/pb_module_experimental.c

@@ -5,33 +5,31 @@
 
 #if PYBRICKS_PY_EXPERIMENTAL
 
+// Include this AFTER the MicroPython headers so mp_obj_t is defined
 #include "pybricks/experimental/odometry.h"
 
-// Define STATIC if not already defined (usually it is in mpconfig.h)
 #ifndef STATIC
 #define STATIC static
 #endif
 
-// This is the function that Python calls
 STATIC mp_obj_t experimental_odometry_benchmark(size_t n_args, const mp_obj_t *args) {
     int num_iters = mp_obj_get_int(args[0]);
     float wheel_circ = mp_obj_get_float(args[1]);
     float axle_track = mp_obj_get_float(args[2]);
     mp_obj_t right_func = args[3];
     mp_obj_t left_func = args[4];
 
+    // With the header included, the compiler now knows these are floats, not doubles
     return calculate_odometry(num_iters, wheel_circ, axle_track, right_func, left_func);
 }
-// Define as a MicroPython function object
+
 STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(experimental_odometry_benchmark_obj, 5, 5, experimental_odometry_benchmark);
 
-// Map the C function to the Python name "odometry_benchmark"
 STATIC const mp_rom_map_elem_t experimental_globals_table[] = {
     { MP_ROM_QSTR(MP_QSTR_odometry_benchmark), MP_ROM_PTR(&experimental_odometry_benchmark_obj) },
 };
 STATIC MP_DEFINE_CONST_DICT(pb_module_experimental_globals, experimental_globals_table);
 
-// Structure for MicroPython to register the module
 const mp_obj_module_t pb_module_experimental = {
     .base = { &mp_type_module },
     .globals = (mp_obj_dict_t *)&pb_module_experimental_globals,