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Updated docs, renamed SwerveDrive lock function and setBrake function

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This commit is contained in:
thenetworkgrinch
2023-02-15 22:18:27 -06:00
parent e4436b5ed2
commit e8f6ca3659
111 changed files with 3086 additions and 384 deletions
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13
swervelib/imu/NavXSwerve.java
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@@ -45,7 +45,7 @@ public class NavXSwerve extends SwerveIMU
public void factoryDefault()
{
// gyro.reset(); // Reported to be slow
yawOffset = gyro.getYaw();
yawOffset = gyro.getYaw() % 360;
}
/**
@@ -65,10 +65,7 @@ public class NavXSwerve extends SwerveIMU
public void setYaw(double yaw)
{
// gyro.reset(); // Reported to be slow using the offset.
if (yaw != 0)
{
yawOffset = yaw + gyro.getYaw();
}
yawOffset = (yaw % 360) + (gyro.getYaw() % 360);
}
/**
@@ -79,9 +76,9 @@ public class NavXSwerve extends SwerveIMU
@Override
public void getYawPitchRoll(double[] yprArray)
{
yprArray[0] = gyro.getYaw() - yawOffset;
yprArray[1] = gyro.getPitch();
yprArray[2] = gyro.getRoll();
yprArray[0] = (gyro.getYaw() % 360) - yawOffset;
yprArray[1] = gyro.getPitch() % 360;
yprArray[2] = gyro.getRoll() % 360;
}
/**