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Added waiting before calibrating gyro

This commit is contained in:
Ulysse Cura 2025-05-23 21:23:37 +02:00
parent 7e3b0e7a9d
commit 1c24cac767
1 changed files with 3 additions and 1 deletions
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4
main controller code/src/gyro.c
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@ -38,6 +38,8 @@ int init_gyro(void)
robot.gyro_data.y_angle = 0.0f; robot.gyro_data.y_angle = 0.0f;
robot.gyro_data.z_angle = 0.0f; robot.gyro_data.z_angle = 0.0f;
sleep_ms(1000);
return 0; return 0;
} }
@ -55,7 +57,7 @@ static inline void __attribute__((always_inline)) gyro_read(int16_t *x, int16_t
void gyro_calibrate(void) void gyro_calibrate(void)
{ {
const uint nb_samples = 10000; const uint nb_samples = 1000;
int16_t x, y, z; int16_t x, y, z;
int32_t x_sum = 0, y_sum = 0, z_sum = 0; int32_t x_sum = 0, y_sum = 0, z_sum = 0;