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Updated swervelib telemetry configurability. Reliable gyroscope modulo

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This commit is contained in:
thenetworkgrinch
2023-02-24 19:11:05 -06:00
parent 9b699291e8
commit 69edd17103
121 changed files with 2280 additions and 501 deletions
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10
swervelib/imu/ADIS16448Swerve.java
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@@ -34,7 +34,7 @@ public class ADIS16448Swerve extends SwerveIMU
@Override
public void factoryDefault()
{
yawOffset = imu.getAngle() % 360;
yawOffset = Math.IEEEremainder(imu.getAngle(), 360);
}
/**
@@ -54,7 +54,7 @@ public class ADIS16448Swerve extends SwerveIMU
@Override
public void setYaw(double yaw)
{
yawOffset = (yaw % 360) + (imu.getAngle() % 360);
yawOffset = Math.IEEEremainder(yaw, 360) + Math.IEEEremainder(imu.getAngle(), 360);
}
/**
@@ -65,9 +65,9 @@ public class ADIS16448Swerve extends SwerveIMU
@Override
public void getYawPitchRoll(double[] yprArray)
{
yprArray[0] = (imu.getAngle() % 360) - yawOffset;
yprArray[1] = imu.getXComplementaryAngle() % 360;
yprArray[2] = imu.getYComplementaryAngle() % 360;
yprArray[0] = Math.IEEEremainder(imu.getAngle(), 360) - yawOffset;
yprArray[1] = Math.IEEEremainder(imu.getXComplementaryAngle(), 360);
yprArray[2] = Math.IEEEremainder(imu.getYComplementaryAngle(), 360);
}
/**