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Upgrading to 2025.7.0

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thenetworkgrinch
2025-02-22 06:15:56 +00:00
parent 62f8236678
commit 4016ee2190
41 changed files with 2237 additions and 557 deletions
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56
swervelib/imu/Pigeon2Swerve.java
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@@ -23,41 +23,41 @@ public class Pigeon2Swerve extends SwerveIMU
/**
* Wait time for status frames to show up.
*/
public static double STATUS_TIMEOUT_SECONDS = 0.04;
public static double STATUS_TIMEOUT_SECONDS = 0.04;
/**
* {@link Pigeon2} IMU device.
*/
private final Pigeon2 imu;
private final Pigeon2 imu;
/**
* Mutable {@link AngularVelocity} for readings.
* Mutable {@link MutAngularVelocity} for readings.
*/
private final MutAngularVelocity yawVel = new MutAngularVelocity(0, 0, DegreesPerSecond);
/**
* Offset for the {@link Pigeon2}.
*/
private Rotation3d offset = new Rotation3d();
/**
* Inversion for the gyro
*/
private boolean invertedIMU = false;
/**
* {@link Pigeon2} configurator.
*/
private Pigeon2Configurator cfg;
private final MutAngularVelocity yawVel = new MutAngularVelocity(0,
0,
DegreesPerSecond);
/**
* X Acceleration supplier
*/
private Supplier<StatusSignal<LinearAcceleration>> xAcc;
private final Supplier<StatusSignal<LinearAcceleration>> xAcc;
/**
* Y Accelleration supplier.
*/
private Supplier<StatusSignal<LinearAcceleration>> yAcc;
private final Supplier<StatusSignal<LinearAcceleration>> yAcc;
/**
* Z Acceleration supplier.
*/
private Supplier<StatusSignal<LinearAcceleration>> zAcc;
private final Supplier<StatusSignal<LinearAcceleration>> zAcc;
/**
* Offset for the {@link Pigeon2}.
*/
private Rotation3d offset = new Rotation3d();
/**
* Inversion for the gyro
*/
private boolean invertedIMU = false;
/**
* {@link Pigeon2} configurator.
*/
private Pigeon2Configurator cfg;
/**
* Generate the SwerveIMU for {@link Pigeon2}.
@@ -85,6 +85,12 @@ public class Pigeon2Swerve extends SwerveIMU
this(canid, "");
}
@Override
public void close() {
imu.close();
}
/**
* Reset {@link Pigeon2} to factory default.
*/
@@ -159,15 +165,15 @@ public class Pigeon2Swerve extends SwerveIMU
@Override
public Optional<Translation3d> getAccel()
{
// TODO: Implement later.
return Optional.empty();
return Optional.of(new Translation3d(xAcc.get().getValueAsDouble(),
yAcc.get().getValueAsDouble(),
zAcc.get().getValueAsDouble()));
}
@Override
public MutAngularVelocity getYawAngularVelocity()
{
return yawVel.mut_replace(imu.getAngularVelocityZWorld().waitForUpdate(STATUS_TIMEOUT_SECONDS).getValue());
return yawVel.mut_replace(imu.getAngularVelocityZWorld().refresh().getValue());
}
/**