From 8d79dcb8b0ab96f10a8d28bd60e0feca0b0786fa Mon Sep 17 00:00:00 2001 From: thenetworkgrinch Date: Mon, 19 Feb 2024 20:48:54 -0600 Subject: [PATCH] Update to 2024.4.8.5 --- swervelib/SwerveDrive.java | 6 +++--- swervelib/imu/NavXSwerve.java | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/swervelib/SwerveDrive.java b/swervelib/SwerveDrive.java index 0c80265..a99f880 100644 --- a/swervelib/SwerveDrive.java +++ b/swervelib/SwerveDrive.java @@ -450,8 +450,8 @@ public class SwerveDrive /** * The primary method for controlling the drivebase. Takes a {@link ChassisSpeeds}, and calculates and commands module - * states accordingly. Can use either open-loop or closed-loop velocity control for the wheel velocities. Also has - * field- and robot-relative modes, which affect how the translation vector is used. + * states accordingly. Can use either open-loop or closed-loop velocity control for the wheel velocities. Applies + * heading correction if enabled and necessary. * * @param velocity The chassis speeds to set the robot to achieve. * @param isOpenLoop Whether to use closed-loop velocity control. Set to true to disable closed-loop. @@ -547,7 +547,7 @@ public class SwerveDrive } /** - * Set the module states (azimuth and velocity) directly. Used primarily for auto pathing. + * Set the module states (azimuth and velocity) directly. * * @param desiredStates A list of SwerveModuleStates to send to the modules. * @param isOpenLoop Whether to use closed-loop velocity control. Set to true to disable closed-loop. diff --git a/swervelib/imu/NavXSwerve.java b/swervelib/imu/NavXSwerve.java index 790d6b2..8b2b239 100644 --- a/swervelib/imu/NavXSwerve.java +++ b/swervelib/imu/NavXSwerve.java @@ -157,7 +157,7 @@ public class NavXSwerve extends SwerveIMU @Override public Rotation3d getRotation3d() { - return gyro.getRotation3d().minus(offset); + return getRawRotation3d().minus(offset); } /**