Add IMU, Servo, Neopixel

[MartinLocker]

New feature imu, analog servo, neopixel leds added to esp32 fw.

[m3d]

This one is pretty big one :). Thanks a lot for sharing!

[m3d]

I do not know why _8g has negative sign, but I guess the same should be for default?

[m3d]

have you modified also esp/common/config.h? I am not sure if you have there default config for M01? Could you please also increase
#define ROBOT_FW_VERSION 6 // please increase with every change of Robot project (or common library)
(this is old one), as the protocol changed? Thanks a lot

[m3d]

I have some compilation errors like:

src/main.cpp: In function 'void receiveCommand()':
src/main.cpp:65:25: error: 'class Robot' has no member named 'led'; did you mean 'read'?
                   robot.led(0, COLOR::GREEN);
                         ^~~
                         read
src/main.cpp:65:32: error: 'COLOR' has not been declared
                   robot.led(0, COLOR::GREEN);
                                ^~~~~

[m3d]

it looks like we are hitting Windows/Linux filenames with case sensitivity :(

#include "I2C.h"
          ^~~~~~~
compilation terminated.

[m3d]

OK, now it compiles and I was able to flash M03 (for some reason M02 is not visible on my PC :( ... maybe the USB connector is bit loose after FRE2025?) ... I tried go 1m, and as expected it needs update on OSGAR side:

(osgar) md@md-ThinkPad-P50:~/git/osgar$ python -m osgar.record config/matty-go.json --note "matty M03 na krabici, FW ver8" 
2025-08-08 13:57:30,821 root             WARNING  Environment variable OSGAR_LOGS is not set - using working directory
2025-08-08 13:57:30,821 __main__         INFO     /home/md/git/osgar/matty-go-250808_115730.log
2025-08-08 13:57:30,827 __main__         INFO     SIGINT handler installed
FW version: M03-8
Exception in thread Thread-2:
Traceback (most recent call last):
  File "/usr/lib/python3.8/threading.py", line 932, in _bootstrap_inner
    self.run()
  File "/home/md/git/osgar/osgar/node.py", line 44, in run
    self.update()
  File "/home/md/git/osgar/osgar/node.py", line 36, in update
    handler(data)
  File "/home/md/git/osgar/osgar/platforms/matty.py", line 217, in on_esp_data
    self.process_msg(msg)
  File "/home/md/git/osgar/osgar/platforms/matty.py", line 202, in process_msg
    self.process_esp_packet(packet)
  File "/home/md/git/osgar/osgar/platforms/matty.py", line 186, in process_esp_packet
    assert 0, packet.hex()
AssertionError: 01490002982b0000fcff9e00cbff47ff65ff4fff94fe3d00a3d5

so far so good :), thanks

[m3d]

I was not aware that this change is also available now!

[m3d]

Currently testing in robotika/osgar#1028

[MartinLocker]

Add fw for imu calibration

[m3d]

Thanks a lot, feel free to merge. Calibration for M02 and M03 is so far just "preliminary", but we can have smaller PR later with updates/fixes.

[m3d]

Hello,
can we merge this PR? So far it looks as everything is working and potential smaller fixes can be merged later separately. I am asking for this because in parallel I have opened https://github.com/robotika/matty/tree/feature/odroid which is automatically synchronized on all robots and it a bit complicates things - I have to remember to change platform and branch.
thank you
m.

[m3d]

Merging as discussed over e-mail, thanks m.