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Make Robot#facing return 360 degree rotation

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Cyberarm
2023-01-22 08:47:57 -06:00
parent a5b00b1397
commit 6fea7e69aa
1 changed files with 3 additions and 3 deletions
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6
TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/Robot.java
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@@ -368,10 +368,10 @@ public class Robot {
throw new RuntimeException("Failed to find variable with name: " + variableName + " in group: Robot, action: Tuning");
}
// TODO: Convert to 360 degree range with +90 degrees being on the RIGHT
public double facing() {
// FIXME: Apply imuAngleOffset
return imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES);
double imuDegrees = imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES);
return (imuDegrees + imuAngleOffset + 360.0) % 360.0;
}
public double heading() {