dm_imu/__pycache__/__init__.cpython-310.pyc

o
j9i<39><00>@s0ddlZddlZddlZdd<03>Ze<04>ZejZdS)<04>NcCs<>z	ddlm}|WStyYnwt<03>t<05>jddt<03>t<05>jddt<03>t<05>jddg}|D]4}dt|<02>vrKt|j<06>	|j
<EFBFBD><01>}|rJ|d}nq2|<02><0B>rftj
<0A>d	|<02>}tj
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<EFBFBD><01>)z<>
    Load the compiled pybind11 module ``imu_py``.
    The shared object should be placed in the ``build`` directory next to this ``__init__.py``.
    <20>)<01>imu_py<70>buildzimu_py.cpython-310-darwin.sozimu_py.cpython-312-darwin.sozimu_py.*.so<73>*rrz<>Unable to locate the compiled 'imu_py' module. Make sure the package is installed with the compiled extension or run the build step before importing.)<13>r<00>	Exception<6F>pathlib<69>Path<74>__file__<5F>parent<6E>str<74>list<73>glob<6F>name<6D>is_file<6C>	importlib<69>util<69>spec_from_file_location<6F>module_from_spec<65>loader<65>exec_module<6C>ImportError)rZpossible_paths<68>p<>matches<65>spec<65>r<00>*/home/allenyuan/balance/dm_imu/__init__.py<70>_load_imu_modules2<02><04>
<02><04>r)r<00>importlib.utilr<00>sysrZ_imu_mod<6F>DmImurrrr<00><module>s)
-												refactor(build): restructure package layout and fix CMake build directory restoration

- Update pybind_src to point to project root instead of dm_imu subdirectory
- Change CMakeExtension module from "imu_py" to "dm_imu.imu_py"
- Switch to find_packages() with package_dir for automatic package discovery
- Add saving/restoring of CWD in CMake build to prevent directory side effects

											
										
										
											2025-12-10 21:11:21 +08:00
+								o
-												fix(legs, balance): invert wheel1/3 velocities and persist offset state

- Negated velocities for wheel1 and wheel3 in `control_wheels_vel` to match hardware direction, ensuring correct movement.
- Introduced `self.offs` in `BalanceController` to store offset values across calls instead of recreating them each update.
- Refactored `_update_offsets` to operate on the instance offsets, increased threshold sensitivity from 0.2 to 1, and adjusted scaling factors for smoother offset accumulation.
- Simplified offset limiting and normalization logic, removing redundant local variables.
- Updated `run_balance_loop` to initialize and use the persistent `self.offs` state.

These changes fix incorrect wheel commands and improve the stability and accuracy of the balance controller's offset handling.

											
										
										
											2025-12-21 11:23:46 +08:00
+								j9i<39><00>@s0ddlZddlZddlZdd<03>Ze<04>ZejZdS)<04>NcCs<>z	ddlm}|WStyYnwt<03>t<05>jddt<03>t<05>jddt<03>t<05>jddg}|D]4}dt|<02>vrKt|j<06>	|j
-												refactor(build): restructure package layout and fix CMake build directory restoration

- Update pybind_src to point to project root instead of dm_imu subdirectory
- Change CMakeExtension module from "imu_py" to "dm_imu.imu_py"
- Switch to find_packages() with package_dir for automatic package discovery
- Add saving/restoring of CWD in CMake build to prevent directory side effects

											
										
										
											2025-12-10 21:11:21 +08:00
+								<EFBFBD><01>}|rJ|d}nq2|<02><0B>rftj
<0A>d	|<02>}tj
<0A>|<04>}|j<10>|<00>|Sq2td
 								<EFBFBD><01>)z<>
 								    Load the compiled pybind11 module ``imu_py``.
 								    The shared object should be placed in the ``build`` directory next to this ``__init__.py``.
-												fix(legs, balance): invert wheel1/3 velocities and persist offset state

- Negated velocities for wheel1 and wheel3 in `control_wheels_vel` to match hardware direction, ensuring correct movement.
- Introduced `self.offs` in `BalanceController` to store offset values across calls instead of recreating them each update.
- Refactored `_update_offsets` to operate on the instance offsets, increased threshold sensitivity from 0.2 to 1, and adjusted scaling factors for smoother offset accumulation.
- Simplified offset limiting and normalization logic, removing redundant local variables.
- Updated `run_balance_loop` to initialize and use the persistent `self.offs` state.

These changes fix incorrect wheel commands and improve the stability and accuracy of the balance controller's offset handling.

											
										
										
											2025-12-21 11:23:46 +08:00
+								    <20>)<01>imu_py<70>buildzimu_py.cpython-310-darwin.sozimu_py.cpython-312-darwin.sozimu_py.*.so<73>*rrz<>Unable to locate the compiled 'imu_py' module. Make sure the package is installed with the compiled extension or run the build step before importing.)<13>r<00>	Exception<6F>pathlib<69>Path<74>__file__<5F>parent<6E>str<74>list<73>glob<6F>name<6D>is_file<6C>	importlib<69>util<69>spec_from_file_location<6F>module_from_spec<65>loader<65>exec_module<6C>ImportError)rZpossible_paths<68>p<>matches<65>spec<65>r<00>*/home/allenyuan/balance/dm_imu/__init__.py<70>_load_imu_modules2<02><04>
-												fix(balance): correct IMU import and add quick_test entrypoint

- Updated import in `balance.py` from `dm_imu_pkg` to the correct `dm_imu` package.
- Introduced `quick_test()` function as a convenient debugging entry point, moving the previous script execution logic into this callable.
- Modified `__main__` block to display a UI usage message instead of directly running the balance loop.
- Revised `dm_imu.egg-info/PKG-INFO` to reflect the new Gradio‑based control panel documentation and project description.

											
										
										
											2025-12-11 12:12:12 +08:00
+								<02><04>r)r<00>importlib.utilr<00>sysrZ_imu_mod<6F>DmImurrrr<00><module>s)
-												refactor(build): restructure package layout and fix CMake build directory restoration

- Update pybind_src to point to project root instead of dm_imu subdirectory
- Change CMakeExtension module from "imu_py" to "dm_imu.imu_py"
- Switch to find_packages() with package_dir for automatic package discovery
- Add saving/restoring of CWD in CMake build to prevent directory side effects

											
										
										
											2025-12-10 21:11:21 +08:00