imu and current frame streaming

HansonServo.ino

@@ -119,6 +119,16 @@ void runNodeAnimation() {
     );
   }
 
+  // Emit per-frame event: [frameLo, frameHi, playMode, status=0]
+  {
+    uint8_t payload[4];
+    payload[0] = currentTick & 0xFF;
+    payload[1] = (currentTick >> 8) & 0xFF;
+    payload[2] = static_cast<uint8_t>(animState.playMode);
+    payload[3] = 0;  // in-progress
+    sendPacket(Tag::FRAME, payload, 4);
+  }
+
     currentTick++;
 
   // Handle animation end (0 = run indefinitely for variable-only animations)
@@ -127,6 +137,14 @@ void runNodeAnimation() {
     switch (animState.playMode) {
         case PLAY_ONCE:
         animState.stop();
+        {
+          uint8_t done[4];
+          done[0] = currentTick & 0xFF;
+          done[1] = (currentTick >> 8) & 0xFF;
+          done[2] = static_cast<uint8_t>(animState.playMode);
+          done[3] = 1;  // complete
+          sendPacket(Tag::FRAME, done, 4);
+        }
           break;
         case PLAY_LOOP:
         // Continue looping
@@ -134,6 +152,12 @@ void runNodeAnimation() {
         case PLAY_REPEAT:
         if (--animState.repeatsRemaining == 0) {
           animState.stop();
+          uint8_t done[4];
+          done[0] = currentTick & 0xFF;
+          done[1] = (currentTick >> 8) & 0xFF;
+          done[2] = static_cast<uint8_t>(animState.playMode);
+          done[3] = 1;  // complete
+          sendPacket(Tag::FRAME, done, 4);
           }
           break;
       default:

protocol.h

@@ -43,6 +43,7 @@ namespace Tag {
   // Sensors
   constexpr char IMU[4]   = {'I','M','U','0'};  // IMU data (heading, roll, pitch)
   constexpr char RADAR[4] = {'R','D','A','R'};  // Radar targets
+  constexpr char FRAME[4] = {'F','R','M','E'};  // Animation frame events (frame, mode, status)
   
   // System
   constexpr char STATE[4] = {'S','T','A','T'};  // System state/heartbeat

sensors.cpp

@@ -178,8 +178,8 @@ bool IMU::update() {
 }
 
 uint16_t IMU::packPayload(uint8_t* buffer) const {
-  // Format: heading(2) + roll(2) + pitch(2) as int16 * 100
-  int16_t h = (int16_t)(heading * 100.0f);
+  // Format: heading(2, unsigned) + roll(2, signed) + pitch(2, signed), all *100
+  uint16_t h = (uint16_t)(heading * 100.0f);   // 0..36000 fits in uint16
   int16_t r = (int16_t)(roll * 100.0f);
   int16_t p = (int16_t)(pitch * 100.0f);
   

sensors.h

@@ -106,10 +106,10 @@ public:
   bool isRadarStreamEnabled() const { return radarStreamEnabled; }
   
 private:
-  bool imuStreamEnabled = false;
-  bool radarStreamEnabled = false;
-  uint16_t imuInterval = 100;
-  uint16_t radarInterval = 100;
+  bool imuStreamEnabled = true;
+  bool radarStreamEnabled = true;
+  uint16_t imuInterval = 10;
+  uint16_t radarInterval = 10;
   unsigned long lastIMUSend = 0;
   unsigned long lastRadarSend = 0;