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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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33
swervelib/imu/Pigeon2Swerve.java
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@@ -23,7 +23,11 @@ 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;
/**
* Generate the SwerveIMU for pigeon.
@@ -79,6 +83,16 @@ public class Pigeon2Swerve 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.
*
@@ -88,14 +102,15 @@ public class Pigeon2Swerve extends SwerveIMU
public Rotation3d getRawRotation3d()
{
// TODO: Switch to suppliers.
StatusSignal<Double> w = imu.getQuatW();
StatusSignal<Double> x = imu.getQuatX();
StatusSignal<Double> y = imu.getQuatY();
StatusSignal<Double> z = imu.getQuatZ();
return new Rotation3d(new Quaternion(w.refresh().getValue(),
x.refresh().getValue(),
y.refresh().getValue(),
z.refresh().getValue()));
StatusSignal<Double> w = imu.getQuatW();
StatusSignal<Double> x = imu.getQuatX();
StatusSignal<Double> y = imu.getQuatY();
StatusSignal<Double> z = imu.getQuatZ();
Rotation3d reading = new Rotation3d(new Quaternion(w.refresh().getValue(),
x.refresh().getValue(),
y.refresh().getValue(),
z.refresh().getValue()));
return invertedIMU ? reading.unaryMinus() : reading;
}
/**