🧼 Makes magnometer own class

2024-11-14 16:30:58 +01:00
parent d5b003ab94
commit b5a8fe88ca
4 changed files with 71 additions and 32 deletions
@@ -48,7 +48,10 @@ class Spot {
    void initialize();

    // sense
-    void readSensors() { _peripherals.readIMU(); }
+    void readSensors() {
+        _peripherals.readIMU();
+        _peripherals.readMag();
+    }

    // plan
    void planMotion() { updatedMotion = _motionService.updateMotion(); }
@@ -66,7 +69,6 @@ class Spot {
    // communicate
    void emitTelemetry() {
        if (updatedMotion) EXECUTE_EVERY_N_MS(100, { _motionService.emitAngles(); });
-        // _peripherals.loop();
        EXECUTE_EVERY_N_MS(1000, { _peripherals.emitIMU(); });
        // _peripherals.emitSonar();
    }