Code added/fixed tonight (or if you view 4am morning instead of night…):

• Data Logging is now optional
• Force sensors are added in
• Is board in a safe area to start
• Removed I for the PID control loop
• More compact interface
• Turning code added but not “enabled”

Tomorrow:

• Verify Force sensor code works
• Verify board safety code
• Video tape me running into walls.
• Tweak PD control loop
• Get turning tweaked in

Yet another simple function.  This one is for verifying if the board is safe to start riding.  Who knew making something safe could be such a pain in the ass?

private void prepBoard()
{
    var isUserPrepped = false;
            
    const int safeAngle = 5;
    const int safeGyro = 5;

    while (!isUserPrepped && IsUserOnSkateboard())
    {
        var data = imu.GetImuData(PiDividedBySix, PiDividedBySix, PiDividedBySix);

        var angle = data.AccelerationCorrected_X;
        var gyro = data.GyroCorrected_X;

        isUserPrepped = (angle < safeAngle && angle > -safeAngle) && (gyro < safeGyro && gyro > -safeGyro);
    }
}

Best of all, my book chapter is done (I hope, right Dan, right?)