Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-02 02:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpilibj] Fix ADIS16470 Gyro (#7434)

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

6
wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
View File

@@ -426,6 +426,10 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
return m_connected; 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) { private static int toShort(int upper, int lower) {
return (short) (((upper & 0xFF) << 8) + (lower & 0xFF)); 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.write(buf, 2);
m_spi.read(false, 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) { private void writeRegister(int reg, int val) {