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make bmi088 work and other updates #23

Merged
merged 24 commits into from
Feb 14, 2025
Merged

make bmi088 work and other updates #23

merged 24 commits into from
Feb 14, 2025

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alik-git
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@alik-git alik-git mentioned this pull request Feb 12, 2025
@alik-git alik-git self-assigned this Feb 12, 2025
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@harismalik-1 helped a lot with this PR

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Some small Qs, but if both bno055 and bmi088 work on the zbot, this should be good to go

}

/// Updates the simple Euler integration state based on gyroscope data.
pub fn update_simple_euler(&mut self, dt: f32) -> Result<(), Error> {
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How well does this work right now?

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surprisingly good, but yes this is a todo to fix.

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This is removed, and the complimentary filter logic is now in this PR zeroth-robotics/zeroth-bot#93 in for kos-zbot this commit 0badf6d

}
}

let mut sensor_data = Bmi088Data::default();
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We might want to be careful with what we set default data too. E.g. if we fail to read data, what should we put in here?

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Or maybe we want to keep the last valid reading and keep track of how old they are? Definitely not a priority, but something to think about for later. How does the bno055 reader implementation handle this rn?

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hmm good points, I haven;t thought about this.

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okay so just checked and they both have the default value to all zeroes, and they return that if the sensor readings fail I believe. I also think this should be set to the last known values, but low priority I think cause it has never caused an issue so far.

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TODO for later

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ok all the crates have been updated, merging.

@alik-git alik-git merged commit 9016730 into master Feb 14, 2025
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@alik-git alik-git deleted the bmi088_driver2 branch February 14, 2025 01:18
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2 participants