| commit | e7f6ddfe704a61ee0af2d96c00a05576d86c6526 | [log] [tgz] |
|---|---|---|
| author | Austin Schuh <austin.linux@gmail.com> | Fri Mar 22 20:29:49 2019 -0700 |
| committer | Austin Schuh <austin.linux@gmail.com> | Fri Mar 22 20:29:49 2019 -0700 |
| tree | 9c1e04c78084a94acb29b0908225ad28dfd45e25 | |
| parent | acf8a18aa5cc3f95497c9a7957aa4a604a042291 [diff] [blame] |
Add and use a flipped X IMU Turns out +x is backwards on our robot. So it's wildly unstable. Change-Id: If9dfb3ed72258b1084916613d5ccb8a45325f405
diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc index 58ce2a1..0015b70 100644 --- a/frc971/control_loops/drivetrain/drivetrain.cc +++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -151,6 +151,9 @@ case IMUType::IMU_X: last_accel_ = -::frc971::imu_values->accelerometer_x; break; + case IMUType::IMU_FLIPPED_X: + last_accel_ = ::frc971::imu_values->accelerometer_x; + break; case IMUType::IMU_Y: last_accel_ = -::frc971::imu_values->accelerometer_y; break;