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Updated YAGSL to contain NavX fix, center of rotation, and warnings under certain circumstances.

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This commit is contained in:
thenetworkgrinch
2023-11-09 20:53:40 -06:00
parent a0d8d440e3
commit 035dba4fe2
113 changed files with 430 additions and 264 deletions
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9
swervelib/imu/NavXSwerve.java
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@@ -127,10 +127,11 @@ public class NavXSwerve extends SwerveIMU
*/
public Rotation3d getRawRotation3d()
{
return new Rotation3d(new Quaternion(gyro.getQuaternionW(),
gyro.getQuaternionX(),
gyro.getQuaternionY(),
gyro.getQuaternionZ()));
return new Rotation3d(new Quaternion(gyro.getQuaternionW() * 0.5,
gyro.getQuaternionX() * 0.5,
gyro.getQuaternionY() * 0.5,
gyro.getQuaternionZ() *
0.5)); // TODO: Remove when Studica's official release is made.
}
/**