From 1c24cac767d365dff23852b19c303e4db26d100c Mon Sep 17 00:00:00 2001 From: Ulysse Cura Date: Fri, 23 May 2025 21:23:37 +0200 Subject: [PATCH] Added waiting before calibrating gyro --- main controller code/src/gyro.c | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/main controller code/src/gyro.c b/main controller code/src/gyro.c index 883a0d7..c7b54e5 100644 --- a/main controller code/src/gyro.c +++ b/main controller code/src/gyro.c @@ -38,6 +38,8 @@ int init_gyro(void) robot.gyro_data.y_angle = 0.0f; robot.gyro_data.z_angle = 0.0f; + sleep_ms(1000); + return 0; } @@ -55,7 +57,7 @@ static inline void __attribute__((always_inline)) gyro_read(int16_t *x, int16_t void gyro_calibrate(void) { - const uint nb_samples = 10000; + const uint nb_samples = 1000; int16_t x, y, z; int32_t x_sum = 0, y_sum = 0, z_sum = 0;