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imu.getRobotAngularVelocity(AngleUnit.RADIANS) returns degrees instead of radians #1070

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@anpark1234

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@anpark1234

It looks like imu.getRobotAngularVelocity always returns the zRotationRate (and presumably the other axes rates) in degrees regardless of the AngleUnit provided to the method. Consider the following code example:

while (opModeIsActive()) {
    driveRobotBasedOnGamepadInput();

    AngularVelocity avd = imu.getRobotAngularVelocity(AngleUnit.DEGREES);
    AngularVelocity avr = imu.getRobotAngularVelocity(AngleUnit.RADIANS);

    telemetry.addData("z ang vel (d)", "%4.2f", avd.zRotationRate);
    telemetry.addData("z ang vel (r)", "%4.2f", avr.zRotationRate);
    telemetry.update();
}

When I run this on a mecanum strafer robot, and rotate the robot left/right, the values printed for both the degrees and radians match and appear to be in degrees.

There appears to be a workaround, which is to use Math.toRadians(imu.getRobotAngularVelocity(AngleUnit.DEGREES).zRotationRate), but several libraries (including RoadRunner) use radians and would need to be updated with this workaround to operate correctly.

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