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Updated to 2024.4.6.3

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thenetworkgrinch
2024-01-26 11:29:15 -06:00
parent bd949c2fa5
commit 75ec1aee24
121 changed files with 1751 additions and 552 deletions
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20
swervelib/imu/Pigeon2Swerve.java
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@@ -102,14 +102,14 @@ public class Pigeon2Swerve extends SwerveIMU
public Rotation3d getRawRotation3d()
{
// TODO: Switch to suppliers.
StatusSignal<Double> w = imu.getQuatW();
StatusSignal<Double> x = imu.getQuatX();
StatusSignal<Double> y = imu.getQuatY();
StatusSignal<Double> z = imu.getQuatZ();
Rotation3d reading = new Rotation3d(new Quaternion(w.refresh().getValue(),
x.refresh().getValue(),
y.refresh().getValue(),
z.refresh().getValue()));
StatusSignal<Double> w = imu.getQuatW();
StatusSignal<Double> x = imu.getQuatX();
StatusSignal<Double> y = imu.getQuatY();
StatusSignal<Double> z = imu.getQuatZ();
Rotation3d reading = new Rotation3d(new Quaternion(w.refresh().getValue(),
x.refresh().getValue(),
y.refresh().getValue(),
z.refresh().getValue()));
return invertedIMU ? reading.unaryMinus() : reading;
}
@@ -135,8 +135,8 @@ public class Pigeon2Swerve extends SwerveIMU
{
// TODO: Switch to suppliers.
StatusSignal<Double> xAcc = imu.getAccelerationX();
StatusSignal<Double> yAcc = imu.getAccelerationX();
StatusSignal<Double> zAcc = imu.getAccelerationX();
StatusSignal<Double> yAcc = imu.getAccelerationY();
StatusSignal<Double> zAcc = imu.getAccelerationZ();
return Optional.of(new Translation3d(xAcc.refresh().getValue(),
yAcc.refresh().getValue(),