Team4388/2023WayOfTheRobot
1
0
Fork 0
mirror of https://github.com/Team4388/2023WayOfTheRobot.git synced 2026-06-09 00:37:59 -06:00
Code Issues Packages Projects Releases Wiki Activity

Merge moment

Browse Source
This commit is contained in:
Ryan Manley
2023-01-12 18:53:05 -07:00
parent ae770e71c0 66d0f2f19a
commit 069c6e6f39
5 changed files with 54 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/utility/RobotGyro.java
+7 -4
View File
@@ -8,6 +8,9 @@
package frc4388.utility;
import com.ctre.phoenix.sensors.WPI_Pigeon2;
import com.ctre.phoenix.sensors.PigeonIMU;
import com.ctre.phoenix.sensors.WPI_Pigeon2;
import com.ctre.phoenix.sensors.PigeonIMU.CalibrationMode;
import com.kauailabs.navx.frc.AHRS;
// import edu.wpi.first.wpilibj.GyroBase;
@@ -27,7 +30,6 @@ public class RobotGyro implements Gyro {
private double m_lastPigeonAngle;
private double m_deltaPigeonAngle;
private double yawZero = 0;
private double pitchZero = 0;
private double rollZero = 0;
@@ -52,10 +54,9 @@ public class RobotGyro implements Gyro {
/**
* Resets yaw, pitch, and roll.
*/
public void resetAllAngles() {
public void resetZeroValues() {
if (!m_isGyroAPigeon) return;
yawZero = m_pigeon.getYaw();
pitchZero = m_pigeon.getPitch();
rollZero = m_pigeon.getRoll();
}
@@ -97,6 +98,8 @@ public class RobotGyro implements Gyro {
@Override
public void reset() {
resetZeroValues();
if (m_isGyroAPigeon) {
m_pigeon.setYaw(0);
} else {
@@ -116,7 +119,7 @@ public class RobotGyro implements Gyro {
double[] ypr = new double[3];
m_pigeon.getYawPitchRoll(ypr);
return new double[] {(ypr[0] - yawZero), (ypr[1] - pitchZero), (ypr[2] - rollZero)};
return new double[] {ypr[0], (ypr[1] - pitchZero), (ypr[2] - rollZero)};
}
@Override