- 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.
- 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 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: 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
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new file: ui.log
