commit 0a98140205ec30048471eb30ce138e78577c7c3b
author James Kuszmaul <jabukuszmaul@gmail.com> Sat Oct 09 21:00:34 2021 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Fri Oct 15 20:36:48 2021 -0700
tree 9ffc95674ee8f4f521229937ae23edfc15acd68f
parent 37d2c3043cf4ff743c1ba959ebdb4913f3ad9efc

Use ADIS16448 in y2020

This updates the IMU transform to be correct for the yaw axis, but may
have the X/Y axes/signs wrong if we care about accelerometer or
roll/pitch data.

Change-Id: I73d86c8be18f447bb35fc13666ccfdda29fef257
Signed-off-by: James Kuszmaul <jabukuszmaul@gmail.com>

y2020/control_loops/drivetrain/drivetrain_base.cc

diff --git a/y2020/control_loops/drivetrain/drivetrain_base.cc b/y2020/control_loops/drivetrain/drivetrain_base.cc
index b919902..ff47197 100644
--- a/y2020/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2020/control_loops/drivetrain/drivetrain_base.cc
@@ -25,8 +25,9 @@
   static DrivetrainConfig<double> kDrivetrainConfig{
       ::frc971::control_loops::drivetrain::ShifterType::SIMPLE_SHIFTER,
       ::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
-      ::frc971::control_loops::drivetrain::GyroType::IMU_X_GYRO,
-      ::frc971::control_loops::drivetrain::IMUType::IMU_Z,
+      ::frc971::control_loops::drivetrain::GyroType::IMU_Z_GYRO,
+      // TODO(james): CHECK IF THIS IS IMU_X or IMU_FLIPPED_X.
+      ::frc971::control_loops::drivetrain::IMUType::IMU_X,
 
       drivetrain::MakeDrivetrainLoop,
       drivetrain::MakeVelocityDrivetrainLoop,
@@ -53,8 +54,9 @@
       1.2 /* quickturn_wheel_multiplier */,
       1.2 /* wheel_multiplier */,
       true /*pistol_grip_shift_enables_line_follow*/,
-      (Eigen::Matrix<double, 3, 3>() << 0.0, 0.0, 1.0, 0.0, -1.0, 0.0, 1.0, 0.0,
-       0.0)
+      // TODO(james): Check X/Y axis transformations.
+      (Eigen::Matrix<double, 3, 3>() << 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0,
+       1.0)
           .finished() /*imu_transform*/,
   };