Map F1/F3 controller buttons to IMU pitch offset adjustment

F1 = -1 deg, F3 = +1 deg, F1+F3 together = reset to 0 deg.
Removes temporary button debug logger.
Keeps 9/0 tmux keys as secondary control.

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/input_interface/gamepad_manager.hpp

@@ -395,24 +395,27 @@ class GamepadManager : public InputInterface {
 
     // Process gamepad inputs for planner controls (called from update())
     void processGamepadPlannerControls() {
-      // === TEMPORARY BUTTON DEBUG — press any button to see its code name ===
-      if (R1_.on_press)     std::cout << "[BTN] R1 pressed" << std::endl;
-      if (L1_.on_press)     std::cout << "[BTN] L1 pressed" << std::endl;
-      if (start_.on_press)  std::cout << "[BTN] start pressed" << std::endl;
-      if (select_.on_press) std::cout << "[BTN] select pressed" << std::endl;
-      if (R2_.on_press)     std::cout << "[BTN] R2 pressed" << std::endl;
-      if (L2_.on_press)     std::cout << "[BTN] L2 pressed" << std::endl;
-      if (F1_.on_press)     std::cout << "[BTN] F1 pressed" << std::endl;
-      if (F2_.on_press)     std::cout << "[BTN] F2 pressed" << std::endl;
-      if (A_.on_press)      std::cout << "[BTN] A pressed" << std::endl;
-      if (B_.on_press)      std::cout << "[BTN] B pressed" << std::endl;
-      if (X_.on_press)      std::cout << "[BTN] X pressed" << std::endl;
-      if (Y_.on_press)      std::cout << "[BTN] Y pressed" << std::endl;
-      if (up_.on_press)     std::cout << "[BTN] up pressed" << std::endl;
-      if (right_.on_press)  std::cout << "[BTN] right pressed" << std::endl;
-      if (down_.on_press)   std::cout << "[BTN] down pressed" << std::endl;
-      if (left_.on_press)   std::cout << "[BTN] left pressed" << std::endl;
-      // === END BUTTON DEBUG ===
+      // F1/F3 IMU pitch offset control
+      // F1 (physical) = F1_ (code): offset -1°
+      // F3 (physical) = F2_ (code): offset +1°
+      // F1+F3 together: reset to 0°
+      if (F1_.on_press && F2_.pressed) {
+        // Both held — reset to 0
+        g_imu_pitch_offset_deg.store(0.0);
+        std::cout << "[IMU] Pitch offset RESET to 0 deg" << std::endl;
+      } else if (F2_.on_press && F1_.pressed) {
+        // Both held — reset to 0 (catches whichever is pressed second)
+        g_imu_pitch_offset_deg.store(0.0);
+        std::cout << "[IMU] Pitch offset RESET to 0 deg" << std::endl;
+      } else if (F1_.on_press) {
+        double val = g_imu_pitch_offset_deg.load() - 1.0;
+        g_imu_pitch_offset_deg.store(val);
+        std::cout << "[IMU] Pitch offset: " << val << " deg" << std::endl;
+      } else if (F2_.on_press) {
+        double val = g_imu_pitch_offset_deg.load() + 1.0;
+        g_imu_pitch_offset_deg.store(val);
+        std::cout << "[IMU] Pitch offset: " << val << " deg" << std::endl;
+      }
 
       // Start/Stop buttons
       if (start_.on_press) {