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Updated to include gyro and accelerometer, and Rotation3d offset.

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This commit is contained in:
thenetworkgrinch
2023-03-06 20:45:54 -06:00
parent 9b78c6363f
commit 5fd00878d2
120 changed files with 994 additions and 312 deletions
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2
swervelib/motors/TalonFXSwerve.java
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@@ -6,6 +6,7 @@ import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.StatusFrameEnhanced;
import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import edu.wpi.first.wpilibj.Timer;
import swervelib.encoders.SwerveAbsoluteEncoder;
import swervelib.parser.PIDFConfig;
import swervelib.simulation.ctre.PhysicsSim;
@@ -241,6 +242,7 @@ public class TalonFXSwerve extends SwerveMotor
@Override
public void setInverted(boolean inverted)
{
Timer.delay(1);
motor.setInverted(inverted);
}