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[wpilibj] Fix ADIS16470 Gyro (#7434)

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This commit is contained in:
Thad House
2024-11-26 01:23:32 +00:00
committed by GitHub
parent b7eb9fb8f9
commit fe28fa1ded
1 changed files with 5 additions and 1 deletions
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6
wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
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@@ -426,6 +426,10 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
return m_connected;
}
private static int toUShort(int upper, int lower) {
return ((upper & 0xFF) << 8) + (lower & 0xFF);
}
private static int toShort(int upper, int lower) {
return (short) (((upper & 0xFF) << 8) + (lower & 0xFF));
}
@@ -609,7 +613,7 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
m_spi.write(buf, 2);
m_spi.read(false, buf, 2);
return (buf[0] << 8) & buf[1];
return toUShort(buf[0], buf[1]);
}
private void writeRegister(int reg, int val) {