you can now reset the IMU!

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/follower/Follower.java

@@ -989,4 +989,11 @@ public class Follower {
     public DashboardPoseTracker getDashboardPoseTracker() {
         return dashboardPoseTracker;
     }
+
+    /**
+     * This resets the IMU, if applicable.
+     */
+    public void resetIMU() {
+        poseUpdater.resetIMU();
+    }
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/Localizer.java

@@ -86,4 +86,9 @@ public abstract class Localizer {
      * @return returns the turning ticks to radians multiplier
      */
     public abstract double getTurningMultiplier();
+
+    /**
+     * This resets the IMU of the localizer, if applicable.
+     */
+    public abstract void resetIMU();
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/PoseUpdater.java

@@ -5,7 +5,9 @@ import com.qualcomm.robotcore.hardware.HardwareMap;
 import com.qualcomm.robotcore.hardware.IMU;
 
 import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
+import org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers.ThreeWheelIMULocalizer;
 import org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers.ThreeWheelLocalizer;
+import org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers.TwoWheelLocalizer;
 import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.MathFunctions;
 import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Vector;
 
@@ -336,4 +338,11 @@ public class PoseUpdater {
     public Localizer getLocalizer() {
         return localizer;
     }
+
+    /**
+     *
+     */
+    public void resetIMU() {
+        localizer.resetIMU();
+    }
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/DriveEncoderLocalizer.java

@@ -263,4 +263,10 @@ public class DriveEncoderLocalizer extends Localizer {
     public double getTurningMultiplier() {
         return TURN_TICKS_TO_RADIANS;
     }
+
+    /**
+     * This does nothing since this localizer does not use the IMU.
+     */
+    public void resetIMU() {
+    }
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/OTOSLocalizer.java

@@ -209,4 +209,10 @@ public class OTOSLocalizer extends Localizer {
     public double getTurningMultiplier() {
         return otos.getAngularScalar();
     }
+
+    /**
+     * This does nothing since this localizer does not use the IMU.
+     */
+    public void resetIMU() {
+    }
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/ThreeWheelIMULocalizer.java

@@ -306,4 +306,11 @@ public class ThreeWheelIMULocalizer extends Localizer {
     public double getTurningMultiplier() {
         return TURN_TICKS_TO_RADIANS;
     }
+
+    /**
+     * This resets the IMU.
+     */
+    public void resetIMU() {
+        imu.resetYaw();
+    }
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/ThreeWheelLocalizer.java

@@ -283,4 +283,10 @@ public class ThreeWheelLocalizer extends Localizer {
     public double getTurningMultiplier() {
         return TURN_TICKS_TO_RADIANS;
     }
+
+    /**
+     * This does nothing since this localizer does not use the IMU.
+     */
+    public void resetIMU() {
+    }
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/TwoWheelLocalizer.java

@@ -289,4 +289,11 @@ public class TwoWheelLocalizer extends Localizer { // todo: make two wheel odo w
     public double getTurningMultiplier() {
         return 1;
     }
+
+    /**
+     * This resets the IMU.
+     */
+    public void resetIMU() {
+        imu.resetYaw();
+    }
 }