0000000000000000000000000000000000000000 9b48eb79ac4745cc3dce36f3fd0f866a2f3fcc56 Amber Walker <AMWalker@ip-10-195-121-174.wireless-wmc.nor.ou.edu> 1337196335 -0500	commit (initial): Initial Commit
9b48eb79ac4745cc3dce36f3fd0f866a2f3fcc56 ec2ffc168409f390ade2dc46d3cc2443334c81be Amber Walker <AMWalker@amber-walkers-macbook-pro.local> 1337633692 -0500	commit: For switchMotion = 2, quaternions are being used. Quaternion multiplication seems to resolve relative motion, with referenceFrame.quaternion set as the "global" reference point for new updates. referenceFrame is re-captured each time the deadmanSwitch is depressed.
ec2ffc168409f390ade2dc46d3cc2443334c81be 417486a6334834359b883ef7c8800414e70a1538 Amber Walker <AMWalker@amber-walkers-macbook-pro.local> 1337701573 -0500	commit: Added filtering which appears to address issues with gyro drift. Quaternion calculations still appear to address most issues...more testing to follow. PWM conversions have been included (and simplified) based off of the quaternion example. Will have to include old conversions if we keep an option of working with Euler angles (in radians).
