IMU Integration#3739
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StarrryNight merged 35 commits intoMay 27, 2026
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nycrat
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Looks alright so far, left some comments
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| static const uint8_t WHOAMI_REG = 0xf; | ||
| static const uint8_t ACCEL_CONTROL_REG = 0x10; | ||
| static const uint8_t GYRO_CONTROL_REG = 0x11; | ||
| static const uint8_t CTRL4_C = 0x13; | ||
| static const uint8_t CTRL6_C = 0x15; | ||
| static const uint8_t CTRL8_XL = 0x17; | ||
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| // Device path for the IMU | ||
| inline static const std::string IMU_DEVICE = "/dev/i2c-1"; | ||
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| // Gyroscope Z-axis (Yaw) Output Data Registers | ||
| static constexpr uint8_t GYRO_LEAST_SIG_REG = 0x26; // OUTZ_L_G | ||
| static constexpr uint8_t GYRO_MOST_SIG_REG = 0x27; // OUTZ_H_G |
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to be consistent, we should just use static constexpr for all the constants
| */ | ||
| ImuService(); | ||
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| std::optional<ImuData> poll(); |
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| /* | ||
| * Polls the latest IMU reading of the angular velocity of the robot on the z axis | ||
| * @return the current angular velocty of the robot on the z axis | ||
| */ | ||
| std::optional<AngularVelocity> pollAngularVelocity(); |
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doc comment should start with /**
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Andrewyx
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Looks solid, left some minor comments
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Description
Port iintegration of IMU from #3716 , and added linear acceleration polling for future uses. Follow up PR will implement angular acceleration calculations and IMU calibration scripts. Also renamed some variables for clarity.
Testing Done
Resolved Issues
#3703
Length Justification and Key Files to Review
Review Checklist
It is the reviewers responsibility to also make sure every item here has been covered
.hfile) should have a javadoc style comment at the start of them. For examples, see the functions defined inthunderbots/software/geom. Similarly, all classes should have an associated Javadoc comment explaining the purpose of the class.TODO(or similar) statements should either be completed or associated with a github issue