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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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32
swervelib/imu/AnalogGyroSwerve.java
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@@ -17,9 +17,9 @@ public class AnalogGyroSwerve extends SwerveIMU
*/
private final AnalogGyro gyro;
/**
* The yaw offset for the gyroscope.
* Offset for the analog gyro.
*/
private double yawOffset;
private Rotation3d offset = new Rotation3d();
/**
* Analog port in which the gyroscope is connected. Can only be attached to analog ports 0 or 1.
@@ -34,8 +34,8 @@ public class AnalogGyroSwerve extends SwerveIMU
"Analog Gyroscope must be attached to port 0 or 1 on the roboRIO.\n");
}
gyro = new AnalogGyro(channel);
SmartDashboard.putData(gyro);
factoryDefault();
SmartDashboard.putData(gyro);
}
/**
@@ -44,7 +44,7 @@ public class AnalogGyroSwerve extends SwerveIMU
@Override
public void factoryDefault()
{
yawOffset = gyro.getAngle() % 360;
offset = new Rotation3d(0, 0, Math.toRadians(gyro.getAngle()));
}
/**
@@ -57,27 +57,23 @@ public class AnalogGyroSwerve 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) + (gyro.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] = (gyro.getAngle() % 360) - yawOffset;
yprArray[1] = 0;
yprArray[2] = 0;
return new Rotation3d(0, 0, Math.toRadians(gyro.getAngle()));
}
/**
@@ -85,10 +81,10 @@ public class AnalogGyroSwerve extends SwerveIMU
*
* @return {@link Rotation3d} from the IMU.
*/
@Override
public Rotation3d getRotation3d()
{
return new Rotation3d(0, 0, gyro.getAngle())
.minus(new Rotation3d(0, 0, Math.toRadians(yawOffset)));
return getRawRotation3d().minus(offset);
}
/**