Comments (3)
If I remember correctly (this is not mentioned on the Phoenix javadoc), getFusedHeading()
returns an angle modded by 360. We need a continuous angle, because we need to know how many revolutions have been made when we determine track width.
We could detect rollovers from 360 deg to 0 deg if you think that the additional accuracy is important, but I didn't have any issues last year using getRawHeading()
to get the track width for trajectory following on our competition robot.
from frc-characterization.
Ah, fair enough. Just that currently the generated project allocates a 3-array and reads the Z angle from thatβ¦
What other methods does the PigeonIMU have that returns the yaw?
from frc-characterization.
There's getYawPitchRoll
and get6dQuaternion
. The latter will be normalized on [-180, 180] when you convert to Euler angles, because you have an atan2
in that process. I don't know if getYawPitchRoll
returns a non-modded angle. I vaguely recall it being modded from when we used it last year.
from frc-characterization.
Related Issues (20)
- [CRASH] IsADirectoryError: logger_analyzer/templates HOT 2
- Program abort on start (macOS 11.1) HOT 3
- What are kG and kCos? HOT 5
- Generated project doesn't include .vscode or .wpilib directories
- Crash when attempting to analyze data HOT 3
- Replace ast.literal_eval() with json.load()
- Track-width computation doesn't account for wheel circumference HOT 6
- TalonFX encoder inversion not working HOT 2
- Add gyro rotations to logger display when doing track width characterization
- Can't generate Simple-Motor SparkMax project HOT 10
- EPR example is wrong for CTRE Mag Encoder
- List index out of bounds HOT 1
- Unnecessary division by 4 on the Encoder EPR
- Failed to generate project, "Exception in Tkinter callback" HOT 4
- Tool does not generate project HOT 7
- Unable to generate project HOT 8
- Drive Train Characterization Tests Timing Out & Not Recording Data HOT 2
- Integer division truncates down to 0 HOT 1
- LLVM: Out of memory HOT 4
- IndexError upon trying to analyze data HOT 9
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from frc-characterization.