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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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19
swervelib/imu/PigeonSwerve.java
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@@ -20,7 +20,11 @@ public class PigeonSwerve extends SwerveIMU
/**
* Offset for the Pigeon.
*/
private Rotation3d offset = new Rotation3d();
private Rotation3d offset = new Rotation3d();
/**
* Inversion for the gyro
*/
private boolean invertedIMU = false;
/**
* Generate the SwerveIMU for pigeon.
@@ -62,6 +66,16 @@ public class PigeonSwerve 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.
*
@@ -72,7 +86,8 @@ public class PigeonSwerve extends SwerveIMU
{
double[] wxyz = new double[4];
imu.get6dQuaternion(wxyz);
return new Rotation3d(new Quaternion(wxyz[0], wxyz[1], wxyz[2], wxyz[3]));
Rotation3d reading = new Rotation3d(new Quaternion(wxyz[0], wxyz[1], wxyz[2], wxyz[3]));
return invertedIMU ? reading.unaryMinus() : reading;
}
/**