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Make swerve drive work. Some stuff on drift correction

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This commit is contained in:
Michael Mikovsky
2024-07-25 11:41:41 -06:00
parent eb232fbe81
commit c08506dd5e
6 changed files with 103 additions and 56 deletions
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src/main/java/frc4388/utility/RobotGyro.java
+2 -2
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@@ -186,7 +186,7 @@ public class RobotGyro implements Gyro {
m_pigeon.getAngle();
var rotation = m_pigeon.getRotation3d();
return new double[] {rotation.getX(), (rotation.getY() - pitchZero), (rotation.getZ() - rollZero)};
return new double[] {RobotUnits.radiansToDegrees(rotation.getX() - rollZero), RobotUnits.radiansToDegrees(rotation.getY() - pitchZero), RobotUnits.radiansToDegrees(rotation.getZ())};
}
@Override
@@ -197,7 +197,7 @@ public class RobotGyro implements Gyro {
@Override
public double getAngle() {
if (m_isGyroAPigeon) {
return getPigeonAngles()[0];
return getPigeonAngles()[2];
} else {
return m_navX.getAngle();
}