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Updated to 2024.4.6.1

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This commit is contained in:
thenetworkgrinch
2024-01-22 15:11:18 -06:00
parent 7c76cffc78
commit a20a6b83af
120 changed files with 923 additions and 603 deletions
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18
swervelib/imu/NavXSwerve.java
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@@ -23,7 +23,11 @@ public class NavXSwerve extends SwerveIMU
/**
* Offset for the NavX.
*/
private Rotation3d offset = new Rotation3d();
private Rotation3d offset = new Rotation3d();
/**
* Inversion for the gyro
*/
private boolean invertedIMU = false;
/**
* An {@link Alert} for if there is an error instantiating the NavX.
*/
@@ -124,6 +128,16 @@ public class NavXSwerve extends SwerveIMU
this.offset = offset;
}
/**
* Set the gyro to invert its default direction
*
* @param invertIMU invert gyro direction
*/
public void setInverted(boolean invertIMU)
{
invertedIMU = invertIMU;
}
/**
* Fetch the {@link Rotation3d} from the IMU without any zeroing. Robot relative.
*
@@ -132,7 +146,7 @@ public class NavXSwerve extends SwerveIMU
@Override
public Rotation3d getRawRotation3d()
{
return gyro.getRotation3d();
return invertedIMU ? gyro.getRotation3d().unaryMinus() : gyro.getRotation3d();
}
/**