- 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.
- 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.
The README was completely overhauled to reflect the new focus of the repository.
- Replaced the original DM‑IMU driver description with documentation for a web‑based control panel built with Gradio.
- Added sections covering project overview, environment requirements, quick installation, usage instructions, main features, and code structure.
- Updated installation steps to include Python dependencies and optional C++ IMU driver compilation.
- Provided run instructions for the UI and clarified how the BalanceController and LegsController interact with the IMU driver.
- Improved navigation with a table of contents and clearer headings for easier consumption.
- 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
Renamed package from dm_imu_pkg to dm_imu across PKG-INFO, egg-info files,
and directories. Updated CMakeLists.txt, __init__.py, and top_level.txt to
reflect new structure. Bumped gradio version from <5.0 to <6.0 in
dependencies. This refactoring improves naming consistency and streamlines
the package layout for better maintainability.
Add new .pyc files for Legs_controller, balance, and dm_imu_pkg __init__ modules,
and update DM_CAN .pyc. Append new log entry to ui.log for BalanceController
initialization attempt, indicafing code execution and cache generation.
- Rename app_ui.py to main.py for better naming convention
- Update balance.py import to use dm_imu_pkg.dm_imu_py for modularity
- Constrain Gradio version to <5.0 in pyproject.toml and <6.0 in PKG-INFO for compatibility
- Add compiled .so file for dm_imu_pkg and update cached .pyc files after builds
- Include motors_enabled flag in main.py UI for better state management
These changes improve code organization, resolve potential import issues, and ensure dependency compatibility in the balance controller project.
- Add numpy<2.0 for numerical computations with IMU data
- Add pyserial>=3.5 for serial communication with IMU hardware
- Add gradio for web-based user interface
These dependencies enable core features like data processing, hardware connectivity, and UI interaction for the IMU package. Updated pyproject.toml, with resulting changes in requires.txt and PKG-INFO.
- Add dm_imu_pkg/__init__.py to dynamically load compiled IMU module during development and installation
- Update .vscode/settings.json to ignore missing CMakeLists for flexible builds
- Generate egg-info metadata and package structure for distribution
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new file: u2can/DM_CAN.py
new file: u2can/DM_Motor_Test.py
new file: u2can/LICENSE
new file: u2can/README.md
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