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[wpimath] Constrain Rotation2d range to -pi to pi (#4611)

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Co-authored-by: Ryan Blue <ryanzblue@gmail.com>
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ohowe
2022-11-14 15:25:15 -07:00
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parent f656e99245
commit d1d458db2b
7 changed files with 69 additions and 43 deletions
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wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Gyro.java
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@@ -52,10 +52,6 @@ public interface Gyro extends AutoCloseable {
/**
* Return the heading of the robot as a {@link edu.wpi.first.math.geometry.Rotation2d}.
*
* <p>The angle is continuous, that is it will continue from 360 to 361 degrees. This allows
* algorithms that wouldn't want to see a discontinuity in the gyro output as it sweeps past from
* 360 to 0 on the second time around.
*
* <p>The angle is expected to increase as the gyro turns counterclockwise when looked at from the
* top. It needs to follow the NWU axis convention.
*