✨ Makes robot stand compensate imu

2025-09-04 19:27:48 +02:00
parent 1b9dc9bb9e
commit 18d4d66758
4 changed files with 66 additions and 22 deletions
@@ -163,6 +163,26 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
 #endif
    }

+    float angleX() {
+        return
+#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
+            _imu.getAngleX();
+#else
+            0;
+#endif
+    }
+
+    float angleY() {
+        return
+#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
+            _imu.getAngleY();
+#else
+            0;
+#endif
+    }
+
+    // float angleZ() { return _imu.getAngleZ(); }
+
    float leftDistance() { return _left_distance; }
    float rightDistance() { return _right_distance; }