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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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10
swervelib/imu/ADIS16470Swerve.java
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@@ -2,6 +2,7 @@ package swervelib.imu;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.wpilibj.ADIS16470_IMU.IMUAxis;
import edu.wpi.first.wpilibj.ADIS16470_IMU;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import java.util.Optional;
@@ -38,9 +39,8 @@ public class ADIS16470Swerve 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();
}
/**
@@ -69,9 +69,7 @@ public class ADIS16470Swerve extends SwerveIMU
*/
public Rotation3d getRawRotation3d()
{
return new Rotation3d(
Math.toRadians(imu.getYComplementaryAngle()), Math.toRadians(imu.getXComplementaryAngle()),
Math.toRadians(imu.getAngle()));
return new Rotation3d(0, 0, Math.toRadians(-imu.getAngle(IMUAxis.kYaw)));
}
/**