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Upgrading to 2025.1.0.1

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thenetworkgrinch
2024-12-17 18:49:55 +00:00
parent 4bc6978a20
commit 8050f43fa5
19 changed files with 1189 additions and 263 deletions
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24
swervelib/imu/PigeonSwerve.java
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@@ -1,9 +1,13 @@
package swervelib.imu;
import static edu.wpi.first.units.Units.DegreesPerSecond;
import com.ctre.phoenix.sensors.WPI_PigeonIMU;
import edu.wpi.first.math.geometry.Quaternion;
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.smartdashboard.SmartDashboard;
import java.util.Optional;
@@ -16,15 +20,19 @@ public class PigeonSwerve extends SwerveIMU
/**
* {@link WPI_PigeonIMU} IMU device.
*/
private final WPI_PigeonIMU imu;
private final WPI_PigeonIMU imu;
/**
* Mutable {@link AngularVelocity} for readings.
*/
private final MutAngularVelocity yawVel = new MutAngularVelocity(0, 0, DegreesPerSecond);
/**
* Offset for the {@link WPI_PigeonIMU}.
*/
private Rotation3d offset = new Rotation3d();
private Rotation3d offset = new Rotation3d();
/**
* Inversion for the gyro
*/
private boolean invertedIMU = false;
private boolean invertedIMU = false;
/**
* Generate the SwerveIMU for {@link WPI_PigeonIMU}.
@@ -115,14 +123,10 @@ public class PigeonSwerve extends SwerveIMU
return Optional.of(new Translation3d(initial[0], initial[1], initial[2]).times(9.81 / 16384.0));
}
/**
* 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());
}
/**