Added a new configuration parameter to let the software know the actual...

Added a new configuration parameter to let the software know the actual orientation of the gyroscope sensor. Needed to properly balance the robot.

controllers/include/cm510_cfg.h

@@ -26,8 +26,8 @@
 #define MANAGER_MISSING_SERVOS_ALARM_TIME_ON    10
 #define MANAGER_MISSING_SERVOS_ALARM_TIME_OFF   100
 #define BALANCE_GYRO_CAL_NUM_SAMPLES            10
-#define BALANCE_GYRO_X_CHANNEL                  4
-#define BALANCE_GYRO_Y_CHANNEL                  3
+#define BALANCE_GYRO_X_CHANNEL                  3
+#define BALANCE_GYRO_Y_CHANNEL                  4
 #define BALANCE_GYRO_CAL_FAILED_ALARM_NOTE      NOTE_SOL
 #define BALANCE_GYRO_CAL_FAILED_ALARM_TIME_ON   10
 #define BALANCE_GYRO_CAL_FAILED_ALARM_TIME_OFF  100

motion/include/motion_cfg.h

@@ -31,6 +31,10 @@
   #define BALANCE_GYRO_Y_CHANNEL                  4
 #endif
 
+#ifndef BALANCE_GYRO_Y_FWD
+  #define BALANCE_GYRO_Y_BWD
+#endif
+
 #ifndef BALANCE_GYRO_CAL_FAILED_ALARM_NOTE
   #define BALANCE_GYRO_CAL_FAILED_ALARM_NOTE      NOTE_SOL
 #endif

motion/src/balance.c

@@ -37,6 +37,11 @@ void balance_loop(void)
     gyro_x=get_adc_channel(BALANCE_GYRO_X_CHANNEL)-balance_x_gyro_center;
     gyro_y=get_adc_channel(BALANCE_GYRO_Y_CHANNEL)-balance_y_gyro_center;
 
+    #ifdef BALANCE_GYRO_Y_BWD
+    gyro_x=-gyro_x;
+    gyro_y=-gyro_y;
+    #endif
+
     if(gyro_x < BALANCE_BACKWARD_FALL_THD_VALUE)
     {
       balance_robot_fallen_state = robot_face_up;