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Updated IMU

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This commit is contained in:
thenetworkgrinch
2023-03-08 23:34:33 -06:00
parent ca03b2122f
commit ec958aecaa
117 changed files with 678 additions and 635 deletions
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36
swervelib/imu/ADIS16470Swerve.java
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@@ -17,9 +17,9 @@ public class ADIS16470Swerve extends SwerveIMU
*/
private final ADIS16470_IMU imu;
/**
* Offset for the ADIS16470 yaw reading.
* Offset for the ADIS16470.
*/
private double yawOffset = 0;
private Rotation3d offset = new Rotation3d();
/**
* Construct the ADIS16470 imu and reset default configurations. Publish the gyro to the SmartDashboard.
@@ -27,6 +27,7 @@ public class ADIS16470Swerve extends SwerveIMU
public ADIS16470Swerve()
{
imu = new ADIS16470_IMU();
offset = new Rotation3d();
factoryDefault();
SmartDashboard.putData(imu);
}
@@ -37,7 +38,9 @@ public class ADIS16470Swerve extends SwerveIMU
@Override
public void factoryDefault()
{
yawOffset = imu.getAngle() % 360;
offset = new Rotation3d(
Math.toRadians(imu.getYComplementaryAngle()), Math.toRadians(imu.getXComplementaryAngle()),
Math.toRadians(imu.getAngle()));
}
/**
@@ -50,27 +53,25 @@ public class ADIS16470Swerve extends SwerveIMU
}
/**
* Set the yaw in degrees.
* Set the gyro offset.
*
* @param yaw Yaw angle in degrees.
* @param offset gyro offset as a {@link Rotation3d}.
*/
@Override
public void setYaw(double yaw)
public void setOffset(Rotation3d offset)
{
yawOffset = (yaw % 360) + (imu.getAngle() % 360);
offset = getRotation3d();
}
/**
* Fetch the yaw/pitch/roll from the IMU.
* Fetch the {@link Rotation3d} from the IMU without any zeroing. Robot relative.
*
* @param yprArray Array which will be filled with {yaw, pitch, roll} in degrees.
* @return {@link Rotation3d} from the IMU.
*/
@Override
public void getYawPitchRoll(double[] yprArray)
public Rotation3d getRawRotation3d()
{
yprArray[0] = (imu.getAngle() % 360) - yawOffset;
yprArray[1] = imu.getXComplementaryAngle() % 360;
yprArray[2] = imu.getYComplementaryAngle() % 360;
return new Rotation3d(
Math.toRadians(imu.getYComplementaryAngle()), Math.toRadians(imu.getXComplementaryAngle()),
Math.toRadians(imu.getAngle()));
}
/**
@@ -78,11 +79,10 @@ public class ADIS16470Swerve extends SwerveIMU
*
* @return {@link Rotation3d} from the IMU.
*/
@Override
public Rotation3d getRotation3d()
{
return new Rotation3d(
imu.getYComplementaryAngle(), imu.getXComplementaryAngle(), imu.getAngle())
.minus(new Rotation3d(0, 0, Math.toRadians(yawOffset)));
return getRawRotation3d().minus(offset);
}
/**