Description: Depending on the type of floor, some Misty actions can generate wobble. This skill may be a little dance that Misty does while monitoring the IMU and afterward recommend an optimal turn speed.
Why is this a good Misty Skill? There are differences in the ability for Misty to gracefully turn at speed depending on floor type. This skill would allow Misty to tell the difference between concrete, carpet, tile and hardwood floors. Then Misty would set or suggest a recommended max turn speed for other skills to use that require stable operation.
Subscribe to IMU message - zAcceleration, at fast collection rate
turn left TBD (2-5?, as small as possible angle) degrees at high(ish) speed
turn right TBD degrees at high speed
if Misty Stable, repeat with higher angle/speed
Repeat up to 3x and then set a recommended turn speed
There may be other and better ways to accomplish this. And maybe Misty could remember the floor type for each room so this would only be run when Misty is introduced to a new house.