Team2890/YAGSL
4
0
Fork 0
mirror of https://github.com/BroncBotz3481/YAGSL synced 2026-07-03 07:21:40 +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

8
swervelib/imu/SwerveIMU.java
View File

@@ -2,6 +2,8 @@ package swervelib.imu;
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 java.util.Optional;
/**
@@ -57,11 +59,11 @@ public abstract class SwerveIMU
public abstract Optional<Translation3d> getAccel();
/**
* Fetch the rotation rate from the IMU in degrees per second. If rotation rate isn't supported returns empty.
* Fetch the rotation rate from the IMU as {@link AngularVelocity}
*
* @return {@link Double} of the rotation rate as an {@link Optional}.
* @return {@link AngularVelocity} of the rotation rate.
*/
public abstract double getRate();
public abstract MutAngularVelocity getYawAngularVelocity();
/**
* Get the instantiated IMU object.