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Fix setPose() angle wrapping #2

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Fix setPose() angle wrapping #2

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6 changes: 3 additions & 3 deletions SparkFunOTOS.java
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Original file line number Diff line number Diff line change
Expand Up @@ -783,9 +783,9 @@ protected Pose2D regsToPose(byte[] rawData, double rawToXY, double rawToH) {
// Function to convert a pose structure to raw pose registers
protected void poseToRegs(byte[] rawData, Pose2D pose, double xyToRaw, double hToRaw) {
// Convert pose units to raw data
short rawX = (short) _distanceUnit.toMeters(pose.x * xyToRaw);
short rawY = (short) _distanceUnit.toMeters(pose.y * xyToRaw);
short rawH = (short) _angularUnit.toRadians(pose.h * hToRaw);
short rawX = (short) (_distanceUnit.toMeters(pose.x) * xyToRaw);
short rawY = (short) (_distanceUnit.toMeters(pose.y) * xyToRaw);
short rawH = (short) (_angularUnit.toRadians(pose.h) * hToRaw);

// Store raw data in buffer
rawData[0] = (byte) (rawX & 0xFF);
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