docs update

README.md

@@ -116,3 +116,14 @@ pip install -e .
 cd scripts/
 python imu_test.py
 ```
+
+## Find the joints offsets
+
+This script will guide you through finding the joints offsets of your robot, that you can then write in `hwi_feetech_pwm_control.py` in `self.joints_offsets`
+
+> This procedure won't be necessary in the future as we will be flashing the offsets directly in each motor's eeprom.
+
+```bash
+cd scripts/
+python find_soft_offsets.py
+```

scripts/imu_test.py

@@ -1,18 +1,10 @@
-import adafruit_bno055
+from mini_bdx_runtime.imu import Imu
 import time
-import serial
-from scipy.spatial.transform import Rotation as R
-
-uart = serial.Serial("/dev/ttyS0")  # , baudrate=115200)
-imu = adafruit_bno055.BNO055_UART(uart)
 
+imu = Imu(sampling_freq=30)
 while True:
-    try:
-        raw_orientation = imu.quaternion  # quat
-        euler = R.from_quat(raw_orientation).as_euler("xyz")
-        print(euler)
-    except Exception as e:
-        print(e)
-        continue
+    orientation_quat = imu.get_data()
+
+    print(orientation_quat)
 
     time.sleep(1 / 30)