So far, the board accepts the toggle of 'V'. When it receives 'V', it displays the gyro, but it only shows yaw and pitch instead of YPR (I think?). I wanted to add acceleration and gyro. How can I do this?
I want to obtain data like this: https://github.com/PetoiCamp/OpenCat/blob/main/ModuleTests/testMPU/testMPU.ino#L319-L344, where they display OUTPUT_READABLE_YAWPITCHROLL and OUTPUT_READABLE_REALACCEL.
On a side note: I'm not very skilled with Arduino. I know basics like digital write and servo write. I just want to print the IMU data using gyro + accel for me to obtain from the pyserial. So I can just do the full work on python side.
Side question, is there a way to read the servo's current position? I'm expecting that its not available but if it is available, great! I'd like to follow up on the doc
In src/imu.h, in print6Axis(), you can enable the line for the yaw (ypr[0]). YPR means yaw pitch roll, corresponding to 0,1,2.
We are updating the firmware of the servos to allow it to return angle information. But it will only be available for the next batch and cannot be upgraded on your side.