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Update to 2024.4.8.5

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thenetworkgrinch
2024-02-19 20:48:54 -06:00
parent a5eb6d05e9
commit 8d79dcb8b0
2 changed files with 4 additions and 4 deletions
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6
swervelib/SwerveDrive.java
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@@ -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.

2
swervelib/imu/NavXSwerve.java
View File

@@ -157,7 +157,7 @@ public class NavXSwerve extends SwerveIMU
@Override
public Rotation3d getRotation3d()
{
return gyro.getRotation3d().minus(offset);
return getRawRotation3d().minus(offset);
}
/**