From c5d0c4d63833ee66caa0f85f2cf4821fe3059b1b Mon Sep 17 00:00:00 2001
From: Kevin Harrington <mad.hephaestus@gmail.com>
Date: Wed, 6 Dec 2023 13:33:46 -0500
Subject: [PATCH] adding BNO classes

---
 keywordsList.tex | 32 ++++++++++++++++++++++++++++++++
 1 file changed, 32 insertions(+)

diff --git a/keywordsList.tex b/keywordsList.tex
index 4bc0db1..12329eb 100644
--- a/keywordsList.tex
+++ b/keywordsList.tex
@@ -33,6 +33,7 @@
   \item \textbf{Analog} - Values that can be a range of values greater than just 1 and 0
   \item \textbf{Servo} - A motor with a built in controller that can be given position or speed commands
   \item \textbf{Serial Monitor} - A tab in Arduino IDE to see print statements
+  \item \textbf{IMU} - Inertial Measurement Unit - a sensor for measuring motion and orientation
   \item \textbf{Semi-colon} - ; Put at the end of a line that executes (the key to the right of L)
   \item \textbf{Open Parentheses} - ( opening of the functions parameter section (SHIFT + 9)
   \item \textbf{Close Parentheses} - ) closing the functions parameter section (SHIFT + 0)
@@ -184,6 +185,37 @@
 	\item Commit changes with Issue \# in commit message
 	\item Open Build log and add slides for turning + driving
 \end{todolist}
+\newpage
+\section{6th Grade Tech Class Thirteen TODO:}
+\begin{todolist}
+	\item Make Issue to add the BNO055 IMU
+	\item Open Library manager and add EasyBNO055\_ESP and all dependent libraries  
+	\item Open EsayBNO055\_ESP example EsayBNO055\_ESP\_test and upload it
+	\item Observe print statements as you turn the bulldog puppy
+	\item Make a variable for IMU target, set to 0 to begin with
+	\item Compute the error between current heading and IMU target
+	\item Print the error and current heading to Serial Monitor
+	\item Make a float variable for P gain
+	\item Make a variable for control signal that is error times P gain
+	\item Use the Constrain function (Google Arduino Constrain Reference) for the control signal
+	\item Change the joystick control to use the control signal instead of the joystick input
+	\item Upload program and observe the bulldog puppy maintains heading when moved on a piece of paper
+	\item Commit with the Issue \# in the message and push
+	\item Open Build log and add slides Adding IMU control
+\end{todolist}
 
+\section{6th Grade Tech Class Fourteen TODO:}
+\begin{todolist}
+	\item Make Issue to Combine Joystick Control with IMU
+	\item Change the map() method for the "Joystick side to side" to be a range -100 to 100, stored to a float orientation update variable
+	\item Divide the orientation update variable by 100.0
+	\item Add the orientation update variable to the orientation target variable 
+	\item Add a serial print to observe the orientation target and orientation update
+	\item Observe orientation target changes with the left/right of the joystick
+	\item Add in the forward/backwards to the turn terms 
+	\item Upload and observer straight driving and clean turning
+	\item Commit with the Issue \# in the message and push
+	\item Open Build log and add slides Adding IMU control with joystick control
+\end{todolist}
 
 \end{document}