-
- }
-
- public double getZAxisDegreesPerSeconds() {
- double rawValue = (double) gyro.getRotationZ() / 14.375;
- return rawValue;
- }
-
- public void initializeGyro() {
- degrees = 0;
- then = System.nanoTime() / 1000000000.0;
- gyro.reset();
- gyro.initialize();
- System.out.println("Testing Gyro Init");
- }
-
- public void addZAxisDegrees() {
- double degreesRead = getZAxisDegreesPerSeconds();
- now = System.nanoTime();
- now = now / (1000000000.0);
- double differenceInTime = now - then;
- then = now;
- degreesIncreased = differenceInTime * degreesRead;
-
- // 0.0 = register
- // + 1.0 is the formula constant
- //
- degrees += degreesIncreased;
-
- }
-
- public double getDegrees() {
- return degrees;