Minor updates.

Author: tkevinbest

.gitignore

@@ -6,6 +6,8 @@ __pycache__/
 # C extensions
 *.so
 
+codegen
+
 # Distribution / packaging
 .Python
 build/

IMU_Follower.m

@@ -1,10 +1,16 @@
 function outputs = IMU_Follower(inputs)
+% IMU_Follower: A function that processes raw IMU accelerometer and
+% gyroscope data to calculate spatial rotation about the x axis. 
+
+% Author: Kevin Best
+% Date: August 28th, 2024
 persistent fusion_filter
 if isempty(fusion_filter)
     fusion_filter = imufilter('SampleRate',100, 'ReferenceFrame','NED');
 end
 q = fusion_filter([inputs.accel.x, inputs.accel.y, inputs.accel.z], ...
                   [inputs.gyro.x, inputs.gyro.y, inputs.gyro.z]);
 euler_angles = quat2eul(q); 
-outputs.knee_angle_rad = max(min(euler_angles(3), pi/2), 0); 
-end
+outputs.knee_angle_rad = max(min(euler_angles(3), 3*pi/4), 0); 
+end
+

IMU_Follower.prj

@@ -1,5 +1,5 @@
 <deployment-project plugin="plugin.coder" plugin-version="R2023a">
-  <configuration build-checksum="2435049039" file="C:\Users\tkbest\Desktop\TestIMU\IMU_Follower.prj" location="C:\Users\tkbest\Desktop\TestIMU" name="IMU_Follower" target="target.unifiedcoder" target-name="MATLAB Coder">
+  <configuration build-checksum="1735482036" file="C:\Users\tkbest\Documents\MATLAB_Python_IMU_Demo\IMU_Follower.prj" location="C:\Users\tkbest\Documents\MATLAB_Python_IMU_Demo" name="IMU_Follower" target="target.unifiedcoder" target-name="MATLAB Coder">
     <profile key="profile.mex">
       <param.BuiltInstrumentedMex />
       <param.RanInstrumentedMex>false</param.RanInstrumentedMex>
@@ -11,15 +11,15 @@
       <var.SimdQueryHardwareVendor>Generic</var.SimdQueryHardwareVendor>
       <var.SimdQueryHardwareType>MATLAB Host Computer</var.SimdQueryHardwareType>
       <param.InstructionSetExtensionsAvailableInUI>false</param.InstructionSetExtensionsAvailableInUI>
-      <param.ResponsivenessChecks>true</param.ResponsivenessChecks>
-      <param.ExtrinsicCalls>true</param.ExtrinsicCalls>
-      <param.IntegrityChecks>true</param.IntegrityChecks>
+      <param.ResponsivenessChecks />
+      <param.ExtrinsicCalls />
+      <param.IntegrityChecks />
       <param.SaturateOnIntegerOverflow>true</param.SaturateOnIntegerOverflow>
       <param.EnableAutoParallelization>false</param.EnableAutoParallelization>
       <param.NumberOfCpuThreads>0</param.NumberOfCpuThreads>
       <param.OptimizeReductions>false</param.OptimizeReductions>
-      <param.SIMDAcceleration>option.SIMDAcceleration.Portable</param.SIMDAcceleration>
-      <param.GlobalDataSyncMethod>option.GlobalDataSyncMethod.SyncAlways</param.GlobalDataSyncMethod>
+      <param.SIMDAcceleration />
+      <param.GlobalDataSyncMethod />
       <param.EnableVariableSizing>true</param.EnableVariableSizing>
       <param.EnableDynamicMemoryAllocation>true</param.EnableDynamicMemoryAllocation>
       <param.DynamicMemoryAllocation>option.DynamicMemoryAllocation.Threshold</param.DynamicMemoryAllocation>
@@ -38,7 +38,7 @@
       <param.CodeFormattingTool>option.CodeFormattingTool.Auto</param.CodeFormattingTool>
       <param.ReservedNameArray />
       <param.CppStyleConst>true</param.CppStyleConst>
-      <param.EnableDebugging>false</param.EnableDebugging>
+      <param.EnableDebugging />
       <param.Verbosity>option.Verbosity.Info</param.Verbosity>
       <param.ReportPotentialDifferences>false</param.ReportPotentialDifferences>
       <param.GenerateReport>true</param.GenerateReport>
@@ -60,12 +60,12 @@
       <param.CustomSource />
       <param.CustomLibrary />
       <param.PostCodeGenCommand />
-      <param.mex.GenCodeOnly>false</param.mex.GenCodeOnly>
+      <param.mex.GenCodeOnly />
       <param.ConstantFoldingTimeout>40000</param.ConstantFoldingTimeout>
       <param.CompileTimeRecursionLimit>50</param.CompileTimeRecursionLimit>
       <param.EnableRuntimeRecursion>true</param.EnableRuntimeRecursion>
       <param.PreserveVariableNames>option.PreserveVariableNames.None</param.PreserveVariableNames>
-      <param.EchoExpressions>true</param.EchoExpressions>
+      <param.EchoExpressions />
       <param.InlineThreshold>10</param.InlineThreshold>
       <param.InlineThresholdMax>200</param.InlineThresholdMax>
       <param.InlineStackLimit>1000000</param.InlineStackLimit>
@@ -77,13 +77,13 @@
       <param.EnableOpenMP>true</param.EnableOpenMP>
       <param.InitFltsAndDblsToZero>true</param.InitFltsAndDblsToZero>
       <param.DefaultVariableInitialization>option.DefaultVariableInitialization.None</param.DefaultVariableInitialization>
-      <param.ConstantInputs>option.ConstantInputs.CheckValues</param.ConstantInputs>
+      <param.ConstantInputs />
       <param.EnableCRICodeCoverage>true</param.EnableCRICodeCoverage>
       <param.EnableAutoParallelizationReporting>true</param.EnableAutoParallelizationReporting>
       <param.CacheDynamicArrayDataPointer>true</param.CacheDynamicArrayDataPointer>
       <param.EnableJIT>false</param.EnableJIT>
       <param.EnableJITSilentBailOut />
-      <param.CheckForIssuesJIT>true</param.CheckForIssuesJIT>
+      <param.CheckForIssuesJIT />
       <param.EnableGitSupport>false</param.EnableGitSupport>
       <param.EnableAutoCommit>true</param.EnableAutoCommit>
       <param.RepositoryStyle>option.RepositoryStyle.Auto</param.RepositoryStyle>
@@ -622,12 +622,12 @@
     <param.hdlParamStorage />
     <var.gc.lastOutputRoot>codegen\dll\IMU_Follower</var.gc.lastOutputRoot>
     <var.gc.lastOutputType>SHARED_LIBRARY</var.gc.lastOutputType>
-    <var.gc.preBuildChecksum>2435049039</var.gc.preBuildChecksum>
+    <var.gc.preBuildChecksum>1735482036</var.gc.preBuildChecksum>
     <var.cfi.lastOutputRoot />
     <var.cfi.preBuildChecksum />
     <var.outdatedOnRestore>false</var.outdatedOnRestore>
-    <var.lastUserSourceChecksum>&lt;?xml version="1.0" encoding="UTF-8" standalone="yes"?&gt;&lt;checksum&gt;&lt;includedFiles&gt;&lt;file&gt;C:\Users\tkbest\Desktop\TestIMU\IMU_Follower.m&lt;/file&gt;&lt;/includedFiles&gt;&lt;value&gt;3832089872&lt;/value&gt;&lt;/checksum&gt;</var.lastUserSourceChecksum>
-    <var.sourceSetState>&lt;?xml version="1.0" encoding="UTF-8" standalone="yes"?&gt;&lt;sourceModel&gt;&lt;primarySourceFiles&gt;&lt;file&gt;C:\Users\tkbest\Desktop\TestIMU\IMU_Follower.m&lt;/file&gt;&lt;/primarySourceFiles&gt;&lt;fixedPointSourceFiles/&gt;&lt;fixedPointSourceRegistered&gt;false&lt;/fixedPointSourceRegistered&gt;&lt;fixedPointSourceSelected&gt;false&lt;/fixedPointSourceSelected&gt;&lt;/sourceModel&gt;</var.sourceSetState>
+    <var.lastUserSourceChecksum>&lt;?xml version="1.0" encoding="UTF-8" standalone="yes"?&gt;&lt;checksum&gt;&lt;includedFiles&gt;&lt;file&gt;C:\Users\tkbest\Documents\MATLAB_Python_IMU_Demo\IMU_Follower.m&lt;/file&gt;&lt;/includedFiles&gt;&lt;value&gt;2138282761&lt;/value&gt;&lt;/checksum&gt;</var.lastUserSourceChecksum>
+    <var.sourceSetState>&lt;?xml version="1.0" encoding="UTF-8" standalone="yes"?&gt;&lt;sourceModel&gt;&lt;primarySourceFiles&gt;&lt;file&gt;C:\Users\tkbest\Documents\MATLAB_Python_IMU_Demo\IMU_Follower.m&lt;/file&gt;&lt;/primarySourceFiles&gt;&lt;fixedPointSourceFiles/&gt;&lt;fixedPointSourceRegistered&gt;false&lt;/fixedPointSourceRegistered&gt;&lt;fixedPointSourceSelected&gt;false&lt;/fixedPointSourceSelected&gt;&lt;/sourceModel&gt;</var.sourceSetState>
     <param.forceMexBuild>false</param.forceMexBuild>
     <param.NoDefaultJIT>false</param.NoDefaultJIT>
     <param.configImportActive>false</param.configImportActive>
@@ -927,7 +927,7 @@
       </file>
     </fileset.inputtypes>
     <build-deliverables>
-      <file location="${PROJECT_ROOT}\codegen\dll\IMU_Follower" name="IMU_Follower.dll" optional="false">C:\Users\tkbest\Desktop\TestIMU\codegen\dll\IMU_Follower\IMU_Follower.dll</file>
+      <file location="${PROJECT_ROOT}\codegen\dll\IMU_Follower" name="IMU_Follower.dll" optional="false">C:\Users\tkbest\Documents\MATLAB_Python_IMU_Demo\codegen\dll\IMU_Follower\IMU_Follower.dll</file>
     </build-deliverables>
     <workflow />
     <matlab>