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Updated YAGSL to remove misconception of IEEERemainder

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thenetworkgrinch
2023-02-27 21:59:12 -06:00
parent ef58f545df
commit 9b78c6363f
117 changed files with 137 additions and 161 deletions
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12
swervelib/SwerveDrive.java
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@@ -69,27 +69,27 @@ public class SwerveDrive
* Trustworthiness of the vision system Measured in expected standard deviation (meters of position and degrees of
* rotation)
*/
public Matrix<N3, N1> visionMeasurementStdDevs = VecBuilder.fill(0.9, 0.9, 0.9);
public Matrix<N3, N1> visionMeasurementStdDevs = VecBuilder.fill(0.9, 0.9, 0.9);
/**
* Invert odometry readings of drive motor positions, used as a patch for debugging currently.
*/
public boolean invertOdometry = false;
public boolean invertOdometry = false;
/**
* Swerve IMU device for sensing the heading of the robot.
*/
private SwerveIMU imu;
private SwerveIMU imu;
/**
* Simulation of the swerve drive.
*/
private SwerveIMUSimulation simIMU;
private SwerveIMUSimulation simIMU;
/**
* Counter to synchronize the modules relative encoder with absolute encoder when not moving.
*/
private int moduleSynchronizationCounter = 0;
private int moduleSynchronizationCounter = 0;
/**
* The last heading set in radians.
*/
private double lastHeadingRadians = 0;
private double lastHeadingRadians = 0;
/**
* Creates a new swerve drivebase subsystem. Robot is controlled via the {@link SwerveDrive#drive} method, or via the