From 162670bec08173fdc5b0d75ce320f141566d3659 Mon Sep 17 00:00:00 2001 From: Astatin3 Date: Tue, 10 Jan 2023 18:54:58 -0700 Subject: [PATCH] Update RobotGyro.java --- src/main/java/frc4388/utility/RobotGyro.java | 15 ++++++++++++++- 1 file changed, 14 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc4388/utility/RobotGyro.java b/src/main/java/frc4388/utility/RobotGyro.java index ef239ca..2d712c1 100644 --- a/src/main/java/frc4388/utility/RobotGyro.java +++ b/src/main/java/frc4388/utility/RobotGyro.java @@ -28,6 +28,11 @@ public class RobotGyro implements Gyro { private double m_lastPigeonAngle; private double m_deltaPigeonAngle; + private double diff_Pitch = 0; + private double diff_Yaw = 0; + private double diff_Roll = 0; + + /** * Creates a Gyro based on a pigeon * @param gyro the gyroscope to use for Gyro @@ -46,6 +51,12 @@ public class RobotGyro implements Gyro { m_isGyroAPigeon = false; } + // Sets a + // + public void ResetAng() { + + } + /** * Run in periodic if you are using a pigeon. Updates a delta angle so that it can calculate getRate(). Note * that the getRate() method for a navX will likely be much more accurate than for a pigeon. @@ -100,7 +111,9 @@ public class RobotGyro implements Gyro { */ private double[] getPigeonAngles() { double[] angles = new double[3]; - m_pigeon.getYawPitchRoll(angles); + m_pigeon.getPitch(angles); + m_pigeon.getYaw(angles); + m_pigeon.getRoll(angles); return angles; }