Team2890/YAGSL
4
0
Fork 0
mirror of https://github.com/BroncBotz3481/YAGSL synced 2026-06-19 06:21:40 +00:00
Code Issues Packages Projects Releases Wiki Activity

Update to 2024.5.0.3

Browse Source
This commit is contained in:
thenetworkgrinch
2024-08-24 17:27:03 -05:00
parent 89e4163951
commit 44af2d1978
131 changed files with 705 additions and 416 deletions
Download Patch File Download Diff File Expand all files Collapse all files

34
swervelib/imu/NavXSwerve.java
View File

@@ -19,7 +19,7 @@ public class NavXSwerve extends SwerveIMU
/**
* NavX IMU.
*/
private AHRS gyro;
private AHRS imu;
/**
* Offset for the NavX.
*/
@@ -46,9 +46,9 @@ public class NavXSwerve extends SwerveIMU
/* Communicate w/navX-MXP via the MXP SPI Bus. */
/* Alternatively: I2C.Port.kMXP, SerialPort.Port.kMXP or SerialPort.Port.kUSB */
/* See http://navx-mxp.kauailabs.com/guidance/selecting-an-interface/ for details. */
gyro = new AHRS(port);
imu = new AHRS(port);
factoryDefault();
SmartDashboard.putData(gyro);
SmartDashboard.putData(imu);
} catch (RuntimeException ex)
{
navXError.setText("Error instantiating NavX: " + ex.getMessage());
@@ -68,9 +68,9 @@ public class NavXSwerve extends SwerveIMU
/* Communicate w/navX-MXP via the MXP SPI Bus. */
/* Alternatively: I2C.Port.kMXP, SerialPort.Port.kMXP or SerialPort.Port.kUSB */
/* See http://navx-mxp.kauailabs.com/guidance/selecting-an-interface/ for details. */
gyro = new AHRS(port);
imu = new AHRS(port);
factoryDefault();
SmartDashboard.putData(gyro);
SmartDashboard.putData(imu);
} catch (RuntimeException ex)
{
navXError.setText("Error instantiating NavX: " + ex.getMessage());
@@ -90,9 +90,9 @@ public class NavXSwerve extends SwerveIMU
/* Communicate w/navX-MXP via the MXP SPI Bus. */
/* Alternatively: I2C.Port.kMXP, SerialPort.Port.kMXP or SerialPort.Port.kUSB */
/* See http://navx-mxp.kauailabs.com/guidance/selecting-an-interface/ for details. */
gyro = new AHRS(port);
imu = new AHRS(port);
factoryDefault();
SmartDashboard.putData(gyro);
SmartDashboard.putData(imu);
} catch (RuntimeException ex)
{
navXError.setText("Error instantiating NavX: " + ex.getMessage());
@@ -107,7 +107,7 @@ public class NavXSwerve extends SwerveIMU
public void factoryDefault()
{
// gyro.reset(); // Reported to be slow
offset = gyro.getRotation3d();
offset = imu.getRotation3d();
}
/**
@@ -146,7 +146,7 @@ public class NavXSwerve extends SwerveIMU
@Override
public Rotation3d getRawRotation3d()
{
return invertedIMU ? gyro.getRotation3d().unaryMinus() : gyro.getRotation3d();
return invertedIMU ? imu.getRotation3d().unaryMinus() : imu.getRotation3d();
}
/**
@@ -171,12 +171,20 @@ public class NavXSwerve extends SwerveIMU
{
return Optional.of(
new Translation3d(
gyro.getWorldLinearAccelX(),
gyro.getWorldLinearAccelY(),
gyro.getWorldLinearAccelZ())
imu.getWorldLinearAccelX(),
imu.getWorldLinearAccelY(),
imu.getWorldLinearAccelZ())
.times(9.81));
}
/**
* Fetch the rotation rate from the IMU in degrees per second. If rotation rate isn't supported returns empty.
* @return {@link Double} of the rotation rate as an {@link Optional}.
*/
public double getRate() {
return imu.getRate();
}
/**
* Get the instantiated IMU object.
*
@@ -185,6 +193,6 @@ public class NavXSwerve extends SwerveIMU
@Override
public Object getIMU()
{
return gyro;
return imu;
}
}