✨ Makes stand imu compensating

2025-09-06 20:34:06 +02:00
parent bd8c8fd988
commit ae98ba76f7
4 changed files with 13 additions and 4 deletions
@@ -107,6 +107,7 @@ class MotionService {

    bool updateMotion() {
        if (!state) return false;
+        state->updateImuOffsets(_peripherals->angleY(), _peripherals->angleX());
        state->step(body_state);
        kinematics.calculate_inverse_kinematics(body_state, new_angles);