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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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6
swervelib/imu/AnalogGyroSwerve.java
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@@ -41,7 +41,7 @@ public class AnalogGyroSwerve extends SwerveIMU
@Override
public void factoryDefault()
{
yawOffset = gyro.getAngle() % 360;
yawOffset = Math.IEEEremainder(gyro.getAngle(), 360);
}
/**
@@ -61,7 +61,7 @@ public class AnalogGyroSwerve extends SwerveIMU
@Override
public void setYaw(double yaw)
{
yawOffset = (yaw % 360) + (gyro.getAngle() % 360);
yawOffset = Math.IEEEremainder(yaw, 360) + Math.IEEEremainder(gyro.getAngle(), 360);
}
/**
@@ -72,7 +72,7 @@ public class AnalogGyroSwerve extends SwerveIMU
@Override
public void getYawPitchRoll(double[] yprArray)
{
yprArray[0] = (gyro.getAngle() % 360) - yawOffset;
yprArray[0] = Math.IEEEremainder(gyro.getAngle(), 360) - yawOffset;
yprArray[1] = 0;
yprArray[2] = 0;
}