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Updating to 2024.6.0.0

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thenetworkgrinch
2024-10-14 13:22:11 -05:00
parent 689634ab69
commit 8afd8526e9
126 changed files with 1841 additions and 460 deletions
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10
swervelib/imu/Pigeon2Swerve.java
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@@ -26,11 +26,15 @@ public class Pigeon2Swerve extends SwerveIMU
/**
* Offset for the Pigeon 2.
*/
private Rotation3d offset = new Rotation3d();
private Rotation3d offset = new Rotation3d();
/**
* Inversion for the gyro
*/
private boolean invertedIMU = false;
private boolean invertedIMU = false;
/**
* Pigeon2 configurator.
*/
private Pigeon2Configurator cfg;
/**
* Generate the SwerveIMU for pigeon.
@@ -41,6 +45,7 @@ public class Pigeon2Swerve extends SwerveIMU
public Pigeon2Swerve(int canid, String canbus)
{
imu = new Pigeon2(canid, canbus);
this.cfg = imu.getConfigurator();
SmartDashboard.putData(imu);
}
@@ -60,7 +65,6 @@ public class Pigeon2Swerve extends SwerveIMU
@Override
public void factoryDefault()
{
Pigeon2Configurator cfg = imu.getConfigurator();
Pigeon2Configuration config = new Pigeon2Configuration();
// Compass utilization causes readings to jump dramatically in some cases.