rafaelcaricio/Open_Duck_Mini_Runtime
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apirrone 2025-08-01 10:17:17 +02:00
parent 8e799fb52a
commit 82a176af16
1 changed files with 2 additions and 2 deletions
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mini_bdx_runtime/mini_bdx_runtime/imu.py
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@ -95,7 +95,7 @@ class Imu:
print("imu_calib_data.pkl not found") print("imu_calib_data.pkl not found")
print("Imu is running uncalibrated") print("Imu is running uncalibrated")
self.last_imu_data = [0, 0, 0, 0] self.last_imu_data = {"orientation": [0, 0, 0, 0], "gyro": [0, 0, 0]}
self.imu_queue = Queue(maxsize=1) self.imu_queue = Queue(maxsize=1)
Thread(target=self.imu_worker, daemon=True).start() Thread(target=self.imu_worker, daemon=True).start()
@ -159,7 +159,7 @@ if __name__ == "__main__":
# imu = Imu(50, upside_down=False) # imu = Imu(50, upside_down=False)
while True: while True:
data = imu.get_data() data = imu.get_data()
# print(data) print(data)
print("gyro", np.around(data["gyro"], 3)) print("gyro", np.around(data["gyro"], 3))
print("orientation", np.around(data["orientation"], 3)) print("orientation", np.around(data["orientation"], 3))
print("---") print("---")