Ability to read IMU data with v1.2.4

[abpolym]

Hey! I just saw that you released a new version which contained the following statement for the firmware:

• Allow reading IMU data via the serial protocol

I would like to read all IMU data (accelerometer and gyroscope data in all three directions).
How can I do that?

From what I understood, there are two functions defined in imu.h

• print6Axis is triggered when sending a v or V token. Since READ_ACCELERATION is not defined per default and printing the first index of ypr (yaw pitch roll) is commented out, this would return only 2 out of 6 possible values: pitch and roll.
• read_IMU is triggered in multiple instances; 1) whenever readEnvironment (such as in the driver's loop function), 2) when the robot is initialized, and 3) in the perform function of src/skill.h which is triggered whenever a skill (triggered by the k and possibly K tokens in OpenCat.h) is being performed? All instances require GYRO_PIN to be defined, which is the case by default. However, I do not immediately see how to then retrieve all 6 gyro/acc values.

Is there a way to retrieve acceleration/orientation in all three directions by default or do I have to modify, recompile, and upload the modified firmware?

[borntoleave]

Hi,
We have modified the print gyro token to gP, at the bottom of the table:
https://docs.petoi.com/apis/serial-protocol

You can modify the printGyroQ = true to print the values by default.

[abpolym]

Hi @borntoleave

thank you for your answer.
Do I understand it correctly that this will only print gyro data (pitch and roll to be exact) and not accelerometer data?

[borntoleave]

It will print 6-axis data. Oh, BTW, only the ESP32-based board will print all 6 data. The NyBoard version must modify the code because the default firmware has used up all the flash for the generic UI.

…

On Thu, Apr 10, 2025 at 7:53 PM polym (Tim) ***@***.***> wrote: Hi @borntoleave <https://github.com/borntoleave> thank you for your answer. Do I understand it correctly that this will only print gyro data (pitch and roll to be exact) and not accelerometer data? — Reply to this email directly, view it on GitHub <#107 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ACKLZGAQNWKYNDFPVGA4JMT2YZLUVAVCNFSM6AAAAAB2WDME22VHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDOOJSGQ4TANRZHE> . You are receiving this because you were mentioned.Message ID: ***@***.***> *abpolym* left a comment (PetoiCamp/OpenCat-Quadruped-Robot#107) <#107 (comment)> Hi @borntoleave <https://github.com/borntoleave> thank you for your answer. Do I understand it correctly that this will only print gyro data (pitch and roll to be exact) and not accelerometer data? — Reply to this email directly, view it on GitHub <#107 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ACKLZGAQNWKYNDFPVGA4JMT2YZLUVAVCNFSM6AAAAAB2WDME22VHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDOOJSGQ4TANRZHE> . You are receiving this because you were mentioned.Message ID: ***@***.***>

-- ~~ Rongzhong Li, PhD http://borntoleave.github.io