Devlog #4

Switched to using “Game” Data instead of Regular (Idk how to call that?). While the previous code technically works, it gives out rotation and accelerations based on the earth’s magnetic field, which is not the right data for this project, which would need to provide data based on a defined Zero orientation (Designed to work in a FRC Robot setting on the field and not to navigate the world), the Game data returns the quaternions and data based on the defined Zero orientation.

  m_quaternion = {.x = m_imu.getGameQuatI(),
                  .y = m_imu.getGameQuatJ(),
                  .z = m_imu.getGameQuatK(),
                  .w = m_imu.getGameQuatReal()};

Also cleaned out the main.cpp file to just include calls for Init and Loop with no logic attached.

Next on I will need to finish writing CANBus communication and integrate it into the code