commit 82189ebb84bc4be7bb7e7bf1e0c4d13aacf59000
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Sat Mar 05 17:58:34 2022 -0800
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Sat Mar 05 17:58:34 2022 -0800
tree 99cd8a6ea94ca06f9f3f3bf3ad49e186da7687c9
parent be0bd412b710a3aa9494056658c4b058b1a0ce64

Set y2022 IMU to zero yaw

Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
Change-Id: I5f09b0b4da039129cbea647530e04d741292012c

y2022/control_loops/drivetrain/drivetrain_base.cc

diff --git a/y2022/control_loops/drivetrain/drivetrain_base.cc b/y2022/control_loops/drivetrain/drivetrain_base.cc
index 1a76afc..f18ebf2 100644
--- a/y2022/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2022/control_loops/drivetrain/drivetrain_base.cc
@@ -24,7 +24,7 @@
 
 const DrivetrainConfig<double> &GetDrivetrainConfig() {
   // Yaw of the IMU relative to the robot frame.
-  static constexpr double kImuYaw = -M_PI_2 + 0.15;
+  static constexpr double kImuYaw = 0.0;
   static DrivetrainConfig<double> kDrivetrainConfig{
       ::frc971::control_loops::drivetrain::ShifterType::SIMPLE_SHIFTER,
       ::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,