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Updated to 2024

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thenetworkgrinch
2024-01-15 14:37:13 -06:00
parent 3fd8493ccb
commit a71d7a0b4e
185 changed files with 6910 additions and 10987 deletions
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11
swervelib/imu/ADIS16448Swerve.java
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@@ -37,9 +37,8 @@ public class ADIS16448Swerve extends SwerveIMU
@Override
public void factoryDefault()
{
offset = new Rotation3d(
Math.toRadians(imu.getYComplementaryAngle()), Math.toRadians(imu.getXComplementaryAngle()),
Math.toRadians(imu.getAngle()));
offset = new Rotation3d(0, 0, 0);
imu.calibrate();
}
/**
@@ -68,9 +67,9 @@ public class ADIS16448Swerve extends SwerveIMU
*/
public Rotation3d getRawRotation3d()
{
return new Rotation3d(
Math.toRadians(imu.getYComplementaryAngle()), Math.toRadians(imu.getXComplementaryAngle()),
Math.toRadians(imu.getAngle()));
return new Rotation3d(Math.toRadians(-imu.getGyroAngleX()),
Math.toRadians(-imu.getGyroAngleY()),
Math.toRadians(-imu.getGyroAngleZ()));
}
/**