Revert IMU angular velocity bug mitigation (FIRST-Tech-Challenge#173)

* fix: corrected the angular velocity axes See SDK issue FIRST-Tech-Challenge#251 * Update TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/SampleMecanumDrive.java - better description Co-authored-by: Ryan Brott <[email protected]> * fix: changed tank class comment to match mecanum * fix: remove ang velo bug note - Fixed in SDK 8.0 Co-authored-by: Ryan Brott <[email protected]>
BxSciFTC · Sep 20, 2022 · 9e96b62 · 9e96b62
1 parent 519a12b
commit 9e96b62
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diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/SampleMecanumDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/SampleMecanumDrive.java
@@ -298,12 +298,7 @@ public double getRawExternalHeading() {
 
     @Override
     public Double getExternalHeadingVelocity() {
-        // To work around an SDK bug, use -zRotationRate in place of xRotationRate
-        // and -xRotationRate in place of zRotationRate (yRotationRate behaves as 
-        // expected). This bug does NOT affect orientation. 
-        //
-        // See https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/251 for details.
-        return (double) -imu.getAngularVelocity().xRotationRate;
+        return (double) imu.getAngularVelocity().zRotationRate;
     }
 
     public static TrajectoryVelocityConstraint getVelocityConstraint(double maxVel, double maxAngularVel, double trackWidth) {

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/SampleTankDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/SampleTankDrive.java
@@ -302,12 +302,7 @@ public double getRawExternalHeading() {
 
     @Override
     public Double getExternalHeadingVelocity() {
-        // To work around an SDK bug, use -zRotationRate in place of xRotationRate
-        // and -xRotationRate in place of zRotationRate (yRotationRate behaves as
-        // expected). This bug does NOT affect orientation.
-        //
-        // See https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/251 for details.
-        return (double) -imu.getAngularVelocity().xRotationRate;
+        return (double) imu.getAngularVelocity().zRotationRate;
     }
 
     public static TrajectoryVelocityConstraint getVelocityConstraint(double maxVel, double maxAngularVel, double trackWidth) {