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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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5
swervelib/imu/ADXRS450Swerve.java
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@@ -37,7 +37,8 @@ public class ADXRS450Swerve extends SwerveIMU
@Override
public void factoryDefault()
{
offset = new Rotation3d(0, 0, Math.toRadians(imu.getAngle()));
imu.calibrate();
offset = new Rotation3d(0, 0, 0);//Math.toRadians(-imu.getAngle()));
}
/**
@@ -66,7 +67,7 @@ public class ADXRS450Swerve extends SwerveIMU
*/
public Rotation3d getRawRotation3d()
{
return new Rotation3d(0, 0, Math.toRadians(imu.getAngle()));
return new Rotation3d(0, 0, Math.toRadians(-imu.getAngle()));
}
/**