All yaw values from the onboard IMU are wrapped
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Nobody has claimed this yet.
Assessment
- Difficulty
- 3/5
- Estimated time
- 1-2 days
- Newbie friendliness
- 45/100
- Issue type
- Feature
- Clarity
- Mostly clear
- Activity status
- Stale
- Tech stack
- java
- Domain
- embedded-iot
Research direction
Locate the code that publishes the yaw_flat, yaw_landscape, and yaw_portrait topics, then compare its use of WPILib's yaw APIs with the issue's distinction between double and Rotation2d. Done means these topics expose unwrapped yaw values, including across multiple rotations, with existing tests or verification updated as needed.
Written by the indexing model from the issue text.
Description
There are several places that the yaw value from the onboard IMU is published to the system NT server, but all of them currently wrap to a range of -180 to 180. Having access to the unwrapped yaw value would be valuable in many cases (for example, 6328 typically uses this value to calibrate the robot's wheel radius by spinning multiple times in place). I think this would be fully addressed by just publishing the yaw_flat, yaw_landscape, and yaw_portrait topics as unwrapped values. WPILib's API already provides separate methods that return the yaw as a double or Rotation2d depending on whether users want implicit wrapping.
- Dominant language
- Java
- Stars
- 190
- Forks
- 25
- Avg merge
- 6h 28m
- Merged PRs (30d)
- 12
Getting set up
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First steps
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