Revert odom abstraction

include/lemlib/odom/arc.hpp

@@ -21,7 +21,7 @@ class Arc : public Odom {
          * @brief Calibrate the sensors used for odom
          *
          */
-        void calibrate(int timeout = 3000) override;
+        void calibrate() override;
         /**
          * @brief Update te position of odom
          *

include/lemlib/odom/odom.hpp

@@ -9,7 +9,7 @@ class Odom {
          * @brief Calibrate the sensors used for odom
          *
          */
-        virtual void calibrate(int timeout = 3000) = 0;
+        virtual void calibrate() = 0;
         /**
          * @brief Update te position of odom
          *

include/lemlib/util.hpp

@@ -61,6 +61,14 @@ float angleError(float angle1, float angle2, bool radians = true);
  */
 int sgn(float x);
 
+/**
+ * @brief Return the average of a vector of numbers
+ *
+ * @param values
+ * @return float
+ */
+float avg(std::vector<float> values);
+
 /**
  * @brief Exponential moving average
  *
@@ -115,12 +123,4 @@ Waypoint closestWaypoint(const std::vector<Waypoint>& waypoints, const Pose& tar
  * multiple intersections, the first one will be returned
  */
 Pose circleLineIntersect(Pose p1, Pose p2, Pose center, float radius);
-
-/**
- * @brief Check errno to see if a pros function has failed
- *
- * @return true errno indicates failure
- * @return false errno does not indicate failure
- */
-bool checkErrno();
 } // namespace lemlib

src/lemlib/odom/arc.cpp

@@ -1,5 +1,3 @@
-#include <errno.h>
-#include "lemlib/util.hpp"
 #include "lemlib/odom/arc.hpp"
 
 /**
@@ -22,19 +20,8 @@ lemlib::Arc::Arc(std::vector<TrackingWheel>& verticals, std::vector<TrackingWhee
  * to save time, we should calibrate all available imus at the same time. But we
  * still need to remove them if they fail after 5 attempts
  */
-void lemlib::Arc::calibrate(int timeout) {
+void lemlib::Arc::calibrate() {
     // calibrate tracking wheels
     for (TrackingWheel& tracker : verticals) tracker.reset();
     for (TrackingWheel& tracker : horizontals) tracker.reset();
-    for (pros::Imu& imu : imus) imu.reset();
-    std::vector<pros::Imu> newImus;
-    while (true) {
-        for (auto it = imus.begin(); it < imus.end(); it++) {
-            if (!it->is_calibrating() && checkErrno()) {
-                newImus.push_back(*it);
-                it = imus.erase(it);
-            }
-        }
-        pros::delay(10);
-    }
 }

src/lemlib/util.cpp

@@ -8,7 +8,6 @@
  * @copyright Copyright (c) 2023
  *
  */
-#include <errno.h>
 #include <math.h>
 #include <vector>
 #include <string.h>
@@ -208,8 +207,3 @@ lemlib::Pose lemlib::circleLineIntersect(Pose p1, Pose p2, Pose center, float ra
     // no intersection found
     return center;
 }
-
-/**
- * Check errno to see if a device setup has failed
- */
-bool checkErrno() { return errno == INT32_MAX || errno == ENODEV || errno == ENXIO; }