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fix total heading issue in PinpointLocalizer

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This commit is contained in:
Anyi Lin
2024-11-26 04:54:23 -05:00
parent 6d4cd0f2f5
commit 659a22b33e
1 changed files with 2 additions and 2 deletions
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TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/PinpointLocalizer.java
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@ -152,8 +152,8 @@ public class PinpointLocalizer extends Localizer {
@Override @Override
public void update() { public void update() {
odo.update(); odo.update();
totalHeading += MathFunctions.getSmallestAngleDifference(odo.getHeading(), previousHeading); totalHeading += MathFunctions.getSmallestAngleDifference(MathFunctions.normalizeAngle(odo.getHeading()), previousHeading);
previousHeading = odo.getHeading(); previousHeading = MathFunctions.normalizeAngle(odo.getHeading());
} }
/** /**