From a8f0f6bb904abf13c4212d04e9621dc801442241 Mon Sep 17 00:00:00 2001
From: sciencewhiz <sciencewhiz@users.noreply.github.com>
Date: Sat, 29 Jan 2022 20:17:57 -0800
Subject: [PATCH] [wpilibj] Fix ADIS16448 getRate to return rate instead of
 angle (#3974)

---
 .../src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java  | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java
index ca6b52d3b3..1df2ef4474 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java
@@ -961,11 +961,11 @@ public class ADIS16448_IMU implements AutoCloseable, NTSendable {
   public synchronized double getRate() {
     switch (m_yaw_axis) {
       case kX:
-        return getGyroAngleX();
+        return getGyroRateX();
       case kY:
-        return getGyroAngleY();
+        return getGyroRateY();
       case kZ:
-        return getGyroAngleZ();
+        return getGyroRateZ();
       default:
         return 0.0;
     }