| 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_config.h b/frc971/control_loops/drivetrain/drivetrain_config.h index 53c2315..685516f 100644 --- a/frc971/control_loops/drivetrain/drivetrain_config.h +++ b/frc971/control_loops/drivetrain/drivetrain_config.h
@@ -34,8 +34,9 @@ }; enum class IMUType : int32_t { - IMU_X = 0, // Use the x-axis of the IMU. - IMU_Y = 1, // Use the y-axis of the IMU. + IMU_X = 0, // Use the x-axis of the IMU. + IMU_Y = 1, // Use the y-axis of the IMU. + IMU_FLIPPED_X = 2, // Use the flipped x-axis of the IMU. }; template <typename Scalar = double>