Team2890/YAGSL
4
0
Fork 0
mirror of https://github.com/BroncBotz3481/YAGSL synced 2026-07-04 07:31:39 +00:00
Code Issues Packages Projects Releases Wiki Activity

Fixed NetworkAlerts

Browse Source
This commit is contained in:
thenetworkgrinch
2024-01-17 09:17:39 -06:00
parent f16ca43981
commit 1ca3db242c
19 changed files with 510 additions and 108 deletions
Download Patch File Download Diff File Expand all files Collapse all files

17
swervelib/imu/Pigeon2Swerve.java
View File

@@ -88,11 +88,14 @@ public class Pigeon2Swerve extends SwerveIMU
public Rotation3d getRawRotation3d()
{
// TODO: Switch to suppliers.
StatusSignal<Double> w = imu.getQuatW();
StatusSignal<Double> x = imu.getQuatX();
StatusSignal<Double> y = imu.getQuatY();
StatusSignal<Double> z = imu.getQuatZ();
return new Rotation3d(new Quaternion(w.refresh().getValue(), x.refresh().getValue(), y.refresh().getValue(), z.refresh().getValue()));
StatusSignal<Double> w = imu.getQuatW();
StatusSignal<Double> x = imu.getQuatX();
StatusSignal<Double> y = imu.getQuatY();
StatusSignal<Double> z = imu.getQuatZ();
return new Rotation3d(new Quaternion(w.refresh().getValue(),
x.refresh().getValue(),
y.refresh().getValue(),
z.refresh().getValue()));
}
/**
@@ -120,7 +123,9 @@ public class Pigeon2Swerve extends SwerveIMU
StatusSignal<Double> yAcc = imu.getAccelerationX();
StatusSignal<Double> zAcc = imu.getAccelerationX();
return Optional.of(new Translation3d(xAcc.refresh().getValue(), yAcc.refresh().getValue(), zAcc.refresh().getValue()).times(9.81 / 16384.0));
return Optional.of(new Translation3d(xAcc.refresh().getValue(),
yAcc.refresh().getValue(),
zAcc.refresh().getValue()).times(9.81 / 16384.0));
}
/**