Feature/magnetometer class

[Kandles11]

No description provided.

[Copilot]

Pull Request Overview

This PR introduces magnetometer functionality by adding a new Magnet class and integrating BMM350 magnetometer sensor support. The changes include implementing a magnetometer class with calibration support, updating control logic to use profiled PID controllers, and adding extensive BMM350 library support for sensor interfacing.

• Magnetometer class implementation with hard/soft iron calibration support
• Updated control system with new trapezoidal profiling and PID constants
• Comprehensive BMM350 sensor library integration with Python bindings

Reviewed Changes

Copilot reviewed 42 out of 49 changed files in this pull request and generated 5 comments.

Show a summary per file

File	Description
src/utils/logging.cpp	Added float overload for serialLogln function
src/robot/trapezoidalProfileNew.cpp	New trapezoidal motion profile implementation
src/robot/magnet.cpp	Magnetometer class with BMM350 sensor interface and calibration
src/robot/control.cpp	Updated control loop with profiled PID and magnetometer integration
src/main.cpp	Added magnetometer header include
pid_vis.py	Enhanced visualization with heading plots and polar displays
lib/DFRobot_BMM350/	Complete BMM350 sensor library with C++ and Python implementations

---

_{Tip: Customize your code reviews with copilot-instructions.md. Create the file or learn how to get started.}

[Copilot]

The loop overwrites mag_data values during iteration, causing incorrect soft iron calibration. Store the original values before applying the transformation matrix.

Suggested change

	for (int i = 0; i < 3; i++) {
	mag_data[i] = (soft_iron_matrix[i][0] * mag_data[0]) + (soft_iron_matrix[i][1] * mag_data[1]) + (soft_iron_matrix[i][2] * mag_data[2]);
	float orig_mag_data[3] = { mag_data[0], mag_data[1], mag_data[2] };
	for (int i = 0; i < 3; i++) {
	mag_data[i] = (soft_iron_matrix[i][0] * orig_mag_data[0]) + (soft_iron_matrix[i][1] * orig_mag_data[1]) + (soft_iron_matrix[i][2] * orig_mag_data[2]);