Merge pull request #16 from Tropix126/main

feat(devices): V5 Inertial Sensor support

TODO.md

@@ -23,7 +23,7 @@ This is the todo list for the eventual 1.0.0 release of pros-rs
 * [ ] Sensors
   * [X] Distance
   * [X] GPS
-  * [ ] Inertial (IMU)
+  * [x] Inertial (IMU)
   * [ ] Optical
   * [X] Rotational
   * [X] Vision

pros-sys/src/imu.rs

@@ -16,10 +16,10 @@ pub struct quaternion_s_t {
 
 #[repr(C)]
 pub struct imu_raw_s {
-    x: f64,
-    y: f64,
-    z: f64,
-    w: f64,
+    pub x: f64,
+    pub y: f64,
+    pub z: f64,
+    pub w: f64,
 }
 
 pub type imu_gyro_s_t = imu_raw_s;

pros/examples/imu.rs

@@ -0,0 +1,29 @@
+#![no_std]
+#![no_main]
+
+use core::time::Duration;
+use pros::prelude::*;
+
+#[derive(Default)]
+pub struct Robot;
+
+impl SyncRobot for Robot {
+    fn opcontrol(&mut self) -> pros::Result {
+        let imu = InertialSensor::new(1)?;
+
+        imu.calibrate()?;
+
+        loop {
+            let euler = imu.euler()?;
+
+            println!(
+                "Pitch: {} Roll: {} Yaw: {}",
+                euler.pitch, euler.roll, euler.yaw
+            );
+
+            pros::task::delay(Duration::from_secs(1));
+        }
+    }
+}
+
+sync_robot!(Robot);

pros/src/lib.rs

@@ -370,6 +370,7 @@ pub mod prelude {
     pub use crate::position::*;
     pub use crate::sensors::distance::*;
     pub use crate::sensors::gps::*;
+    pub use crate::sensors::imu::*;
     pub use crate::sensors::rotation::*;
     pub use crate::sensors::vision::*;
     pub use crate::task::{sleep, spawn};