commit f34e7fdcd0016813b47ebdd19a11ddae9792c4d9
author James Kuszmaul <jabukuszmaul@gmail.com> Sun Mar 13 20:30:34 2022 -0700
committer James Kuszmaul <jabukuszmaul@gmail.com> Sun Mar 13 20:30:47 2022 -0700
tree 836bcdf5eea5db20e1f09200ad1a6d8664713dfd
parent 4147255028491c44deeb489869cccf6e094e5201

Fix reading gyro on roborio

Change-Id: I11dd00137e988fac6e3903a14aa7a5b5f70fcebb
Signed-off-by: James Kuszmaul <jabukuszmaul@gmail.com>

y2022/wpilib_interface.cc

diff --git a/y2022/wpilib_interface.cc b/y2022/wpilib_interface.cc
index f23d3e2..b11dc3a 100644
--- a/y2022/wpilib_interface.cc
+++ b/y2022/wpilib_interface.cc
@@ -273,7 +273,8 @@
       auto builder = gyro_sender_.MakeBuilder();
       ::frc971::sensors::GyroReading::Builder gyro_reading_builder =
           builder.MakeBuilder<::frc971::sensors::GyroReading>();
-      constexpr double kMaxVelocity = 2000;  // degrees / second
+      // +/- 2000 deg / sec
+      constexpr double kMaxVelocity = 4000;  // degrees / second
       constexpr double kVelocityRadiansPerSecond =
           kMaxVelocity / 360 * (2.0 * M_PI);