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

Upgrading to 2025.1.0.1

Browse Source
This commit is contained in:
thenetworkgrinch
2024-12-17 18:49:55 +00:00
parent 4bc6978a20
commit 8050f43fa5
19 changed files with 1189 additions and 263 deletions
Download Patch File Download Diff File Expand all files Collapse all files

24
swervelib/imu/AnalogGyroSwerve.java
View File

@@ -1,7 +1,11 @@
package swervelib.imu;
import static edu.wpi.first.units.Units.DegreesPerSecond;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.units.measure.MutAngularVelocity;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import java.util.Optional;
@@ -15,15 +19,19 @@ public class AnalogGyroSwerve extends SwerveIMU
/**
* Gyroscope object.
*/
private final AnalogGyro imu;
private final AnalogGyro imu;
/**
* Mutable {@link AngularVelocity} for readings.
*/
private final MutAngularVelocity yawVel = new MutAngularVelocity(0, 0, DegreesPerSecond);
/**
* Offset for the analog gyro.
*/
private Rotation3d offset = new Rotation3d();
private Rotation3d offset = new Rotation3d();
/**
* Inversion for the gyro
*/
private boolean invertedIMU = false;
private boolean invertedIMU = false;
/**
* Analog port in which the gyroscope is connected. Can only be attached to analog ports 0 or 1.
@@ -115,14 +123,10 @@ public class AnalogGyroSwerve extends SwerveIMU
return Optional.empty();
}
/**
* 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()
@Override
public MutAngularVelocity getYawAngularVelocity()
{
return imu.getRate();
return yawVel.mut_setMagnitude(imu.getRate());
}
/**