add quaternion

kscalelabs · Nov 15, 2024 · 41bbe57 · 41bbe57
1 parent cfdd6a4
commit 41bbe57
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Showing 2 changed files with 11 additions and 4 deletions.
diff --git a/platforms/kbot/Cargo.toml b/platforms/kbot/Cargo.toml
@@ -12,7 +12,7 @@ kos_core = { version = "0.1.1", path = "../../kos_core" }
 eyre = "0.6"
 tracing = "0.1"
 async-trait = "0.1"
-robstride = "0.2.8"
+robstride = "0.2.9"
 
 [target.'cfg(target_os = "linux")'.dependencies]
-imu = "0.1.4"
+imu = "0.1.6"
diff --git a/platforms/kbot/src/hexmove.rs b/platforms/kbot/src/hexmove.rs
@@ -121,7 +121,14 @@ impl IMU for KBotIMU {
     }
 
     async fn get_quaternion(&self) -> Result<QuaternionResponse> {
-        error!("Quaternion operation not implemented");
-        Err(eyre::eyre!("Not implemented"))
+        debug!("Reading quaternion");
+        let data = self.imu.get_data();
+        Ok(QuaternionResponse {
+            w: data.qw as f64,
+            x: data.qx as f64,
+            y: data.qy as f64,
+            z: data.qz as f64,
+            error: None,
+        })
     }
 }