diff options
| author | kartofen <mladenovnasko0@gmail.com> | 2024-02-16 18:10:45 +0200 |
|---|---|---|
| committer | kartofen <mladenovnasko0@gmail.com> | 2024-02-16 18:10:45 +0200 |
| commit | d857877ee292202ba3a469b3821561ff0d4218d2 (patch) | |
| tree | 8bcf2b7e68027fe6f97ab2101b1a8e53970d945b /src/main/java/frc/robot/util/IMUGyro.java | |
| parent | 22d859552d0728ad0c553382ddd3cbbd140423b1 (diff) | |
working gyro and subsystem
Diffstat (limited to 'src/main/java/frc/robot/util/IMUGyro.java')
| -rw-r--r-- | src/main/java/frc/robot/util/IMUGyro.java | 10 |
1 files changed, 5 insertions, 5 deletions
diff --git a/src/main/java/frc/robot/util/IMUGyro.java b/src/main/java/frc/robot/util/IMUGyro.java index 3860b85..8d41c63 100644 --- a/src/main/java/frc/robot/util/IMUGyro.java +++ b/src/main/java/frc/robot/util/IMUGyro.java @@ -39,15 +39,15 @@ public class IMUGyro mpu = gyro; reset(); - // mpu.write(CONFIG_ADDR, 0b000000); - mpu.write(SMPLRT_DIV, 0b00000010); - // mpu.write(GYRO_CONFIG, 0b00011000); - // mpu.write(ACCL_CONFIG, 0b00000000); + mpu.write(CONFIG_ADDR, 0b00000100); + mpu.write(SMPLRT_DIV, 0b00010011); + mpu.write(GYRO_CONFIG, 0b00011000); + mpu.write(ACCL_CONFIG, 0b00000000); } public void reset() { - mpu.write(PWR_MGMT_1, 0b000001000); + mpu.write(PWR_MGMT_1, 0b00000000); pitch = 0; roll = 0; |