Team4388/2023WayOfTheRobot
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Update RobotGyro.java

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Astatin3
2023-01-10 18:59:06 -07:00
parent 162670bec0
commit 7fde3423d0
1 changed files with 8 additions and 7 deletions
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src/main/java/frc4388/utility/RobotGyro.java
+8 -7
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@@ -28,8 +28,8 @@ 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_Pitch = 0;
private double diff_Roll = 0;
@@ -54,7 +54,9 @@ public class RobotGyro implements Gyro {
// Sets a
//
public void ResetAng() {
diff_Yaw = m_pigeon.getYaw();
diff_Pitch = m_pigeon.getPitch();
diff_Roll = m_pigeon.getRoll();
}
/**
@@ -110,11 +112,10 @@ public class RobotGyro implements Gyro {
* Roll is within [-90,+90] degrees.
*/
private double[] getPigeonAngles() {
double[] angles = new double[3];
m_pigeon.getPitch(angles);
m_pigeon.getYaw(angles);
m_pigeon.getRoll(angles);
return angles;
double yaw = m_pigeon.getYaw();
double pitch = m_pigeon.getPitch();
double roll = m_pigeon.getRoll();
return double[(yaw - diff_Yaw), (pitch - diff_Pitch), (roll - diff_Roll)];
}
@Override