new file: .vscode/settings.json
new file: Legs_controller.py modified: README.md new file: __pycache__/Legs_controller.cpython-310.pyc new file: __pycache__/Legs_controller.cpython-313.pyc new file: __pycache__/balance.cpython-310.pyc new file: __pycache__/gradio.cpython-310.pyc new file: __pycache__/gradio.cpython-313.pyc new file: app_ui.py new file: balance.py new file: build/.cmake/api/v1/query/client-vscode/query.json new file: build/.cmake/api/v1/reply/cache-v2-ae4a9db768b4bbb36baa.json new file: build/.cmake/api/v1/reply/cmakeFiles-v1-389eb8769a8295e7571d.json new file: build/.cmake/api/v1/reply/codemodel-v2-5ea8cfc0b9263cbe5ae5.json new file: build/.cmake/api/v1/reply/directory-.-Debug-f5ebdc15457944623624.json new file: build/.cmake/api/v1/reply/index-2025-09-11T04-53-20-0515.json new file: build/.cmake/api/v1/reply/target-imu_py-Debug-3913d741f2156d7faae9.json new file: build/.cmake/api/v1/reply/toolchains-v1-3105704d088db7adbfb5.json new file: build/CMakeCache.txt new file: build/CMakeFiles/3.22.1/CMakeCXXCompiler.cmake new file: build/CMakeFiles/3.22.1/CMakeDetermineCompilerABI_CXX.bin new file: build/CMakeFiles/3.22.1/CMakeSystem.cmake new file: build/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp new file: build/CMakeFiles/3.22.1/CompilerIdCXX/a.out new file: build/CMakeFiles/CMakeDirectoryInformation.cmake new file: build/CMakeFiles/CMakeOutput.log new file: build/CMakeFiles/Makefile.cmake new file: build/CMakeFiles/Makefile2 new file: build/CMakeFiles/TargetDirectories.txt new file: build/CMakeFiles/cmake.check_cache new file: build/CMakeFiles/imu_py.dir/DependInfo.cmake new file: build/CMakeFiles/imu_py.dir/build.make new file: build/CMakeFiles/imu_py.dir/cmake_clean.cmake new file: build/CMakeFiles/imu_py.dir/compiler_depend.make new file: build/CMakeFiles/imu_py.dir/compiler_depend.ts new file: build/CMakeFiles/imu_py.dir/depend.make new file: build/CMakeFiles/imu_py.dir/flags.make new file: build/CMakeFiles/imu_py.dir/link.txt new file: build/CMakeFiles/imu_py.dir/progress.make new file: build/CMakeFiles/progress.marks new file: build/Makefile new file: build/cmake_install.cmake new file: build/compile_commands.json new file: dm_imu/bsp_crc.cpp new file: dm_imu/bsp_crc.h new file: dm_imu/imu_data.csv new file: dm_imu/imu_driver.cpp new file: dm_imu/imu_driver.h new file: dm_imu/imu_plot.png new file: dm_imu/plot_imu.py new file: dm_imu/test_imu.cpp new file: imu_data.csv new file: pybind_imu/CMakeLists.txt new file: pybind_imu/README.md new file: pybind_imu/build/CMakeCache.txt new file: pybind_imu/build/CMakeFiles/3.22.1/CMakeCXXCompiler.cmake new file: pybind_imu/build/CMakeFiles/3.22.1/CMakeDetermineCompilerABI_CXX.bin new file: pybind_imu/build/CMakeFiles/3.22.1/CMakeSystem.cmake new file: pybind_imu/build/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp new file: pybind_imu/build/CMakeFiles/3.22.1/CompilerIdCXX/a.out new file: pybind_imu/build/CMakeFiles/CMakeDirectoryInformation.cmake new file: pybind_imu/build/CMakeFiles/CMakeOutput.log new file: pybind_imu/build/CMakeFiles/Makefile.cmake new file: pybind_imu/build/CMakeFiles/Makefile2 new file: pybind_imu/build/CMakeFiles/TargetDirectories.txt new file: pybind_imu/build/CMakeFiles/cmake.check_cache new file: pybind_imu/build/CMakeFiles/imu_py.dir/DependInfo.cmake new file: pybind_imu/build/CMakeFiles/imu_py.dir/build.make new file: pybind_imu/build/CMakeFiles/imu_py.dir/cmake_clean.cmake new file: pybind_imu/build/CMakeFiles/imu_py.dir/compiler_depend.make new file: pybind_imu/build/CMakeFiles/imu_py.dir/compiler_depend.ts new file: pybind_imu/build/CMakeFiles/imu_py.dir/depend.make new file: pybind_imu/build/CMakeFiles/imu_py.dir/flags.make new file: pybind_imu/build/CMakeFiles/imu_py.dir/home/allenyuan/balance/dm_imu/bsp_crc.cpp.o new file: pybind_imu/build/CMakeFiles/imu_py.dir/home/allenyuan/balance/dm_imu/bsp_crc.cpp.o.d new file: pybind_imu/build/CMakeFiles/imu_py.dir/home/allenyuan/balance/dm_imu/imu_driver.cpp.o new file: pybind_imu/build/CMakeFiles/imu_py.dir/home/allenyuan/balance/dm_imu/imu_driver.cpp.o.d new file: pybind_imu/build/CMakeFiles/imu_py.dir/link.txt new file: pybind_imu/build/CMakeFiles/imu_py.dir/progress.make new file: pybind_imu/build/CMakeFiles/imu_py.dir/pybind_imu.cpp.o new file: pybind_imu/build/CMakeFiles/imu_py.dir/pybind_imu.cpp.o.d new file: pybind_imu/build/CMakeFiles/progress.marks new file: pybind_imu/build/Makefile new file: pybind_imu/build/cmake_install.cmake new file: pybind_imu/build/imu_py.cpython-310-aarch64-linux-gnu.so new file: pybind_imu/example.py new file: pybind_imu/pybind_imu.cpp new file: src/example.py new file: test_imu new file: u2can/DM_CAN.py new file: u2can/DM_Motor_Test.py new file: u2can/LICENSE new file: u2can/README.md new file: u2can/__pycache__/DM_CAN.cpython-310.pyc new file: u2can/__pycache__/DM_CAN.cpython-312.pyc new file: u2can/__pycache__/DM_CAN.cpython-313.pyc new file: u2can/__pycache__/gradio.cpython-313.pyc new file: u2can/__pycache__/motor_interface.cpython-313.pyc new file: u2can/motor_interface.py new file: u2can/requirements.txt new file: ui.log
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52
dm_imu/test_imu.cpp
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52
dm_imu/test_imu.cpp
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#include "imu_driver.h"
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#include <iostream>
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#include <thread>
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#include <chrono>
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#include <fstream>
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int main()
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{
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// 根据实际设备路径与波特率创建 IMU 对象
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dmbot_serial::DmImu imu("/dev/ttyACM0", 921600);
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// 启动采集线程
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if (!imu.start())
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{
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std::cerr << "Failed to start IMU driver." << std::endl;
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return 1;
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}
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// 打开 CSV 文件用于保存数据
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std::ofstream csvFile("dm_imu/imu_data.csv");
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csvFile << "index,roll,pitch,yaw,accx,accy,accz,gyrox,gyroy,gyroz\n";
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// 示例：读取 1000 次数据（约 10 秒，100 Hz）
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for (int i = 0; i < 1000; ++i)
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{
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dmbot_serial::IMU_Data data = imu.getData();
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std::cout << "Roll: " << data.roll << " Pitch: " << data.pitch
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<< " Yaw: " << data.yaw << std::endl;
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std::cout << "Acc : [" << data.accx << ", " << data.accy << ", " << data.accz << "]"
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<< std::endl;
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std::cout << "Gyro : [" << data.gyrox << ", " << data.gyroy << ", " << data.gyroz << "]"
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<< std::endl;
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std::cout << "----------------------------------------" << std::endl;
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// 写入 CSV
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csvFile << i << ',' << data.roll << ',' << data.pitch << ',' << data.yaw << ','
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<< data.accx << ',' << data.accy << ',' << data.accz << ','
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<< data.gyrox << ',' << data.gyroy << ',' << data.gyroz << '\n';
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// 10 ms 间隔（约 100 Hz）
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std::this_thread::sleep_for(std::chrono::milliseconds(10));
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}
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csvFile.close();
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// 停止采集并关闭串口
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imu.stop();
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std::system("python3 dm_imu/plot_imu.py");
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return 0;
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}
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