Changed minus to rotateBy.

thenetworkgrinch · thenetworkgrinch · commit 033113719dd5 · 2025-03-05T16:40:40.000-06:00
Signed-off-by: thenetworkgrinch &lt;thenetworkgrinch@users.noreply.github.com&gt;
diff --git a/src/main/java/swervelib/imu/ADIS16448Swerve.java b/src/main/java/swervelib/imu/ADIS16448Swerve.java
@@ -107,7 +107,7 @@ public Rotation3d getRawRotation3d()
   @Override
   public Rotation3d getRotation3d()
   {
-    return getRawRotation3d().minus(offset);
+    return getRawRotation3d().rotateBy(offset.unaryMinus());
   }
 
   /**
diff --git a/src/main/java/swervelib/imu/ADIS16470Swerve.java b/src/main/java/swervelib/imu/ADIS16470Swerve.java
@@ -107,7 +107,7 @@ public Rotation3d getRawRotation3d()
   @Override
   public Rotation3d getRotation3d()
   {
-    return getRawRotation3d().minus(offset);
+    return getRawRotation3d().rotateBy(offset.unaryMinus());
   }
 
   /**
diff --git a/src/main/java/swervelib/imu/ADXRS450Swerve.java b/src/main/java/swervelib/imu/ADXRS450Swerve.java
@@ -105,7 +105,7 @@ public Rotation3d getRawRotation3d()
   @Override
   public Rotation3d getRotation3d()
   {
-    return getRawRotation3d().minus(offset);
+    return getRawRotation3d().rotateBy(offset.unaryMinus());
   }
 
   /**
diff --git a/src/main/java/swervelib/imu/AnalogGyroSwerve.java b/src/main/java/swervelib/imu/AnalogGyroSwerve.java
@@ -112,7 +112,7 @@ public Rotation3d getRawRotation3d()
   @Override
   public Rotation3d getRotation3d()
   {
-    return getRawRotation3d().minus(offset);
+    return getRawRotation3d().rotateBy(offset.unaryMinus());
   }
 
   /**
diff --git a/src/main/java/swervelib/imu/CanandgyroSwerve.java b/src/main/java/swervelib/imu/CanandgyroSwerve.java
@@ -109,7 +109,7 @@ public Rotation3d getRawRotation3d()
   @Override
   public Rotation3d getRotation3d()
   {
-    return getRawRotation3d().minus(offset);
+    return getRawRotation3d().rotateBy(offset.unaryMinus());
   }
 
   /**
diff --git a/src/main/java/swervelib/imu/Pigeon2Swerve.java b/src/main/java/swervelib/imu/Pigeon2Swerve.java
@@ -152,7 +152,7 @@ public Rotation3d getRawRotation3d()
   @Override
   public Rotation3d getRotation3d()
   {
-    return getRawRotation3d().minus(offset);
+    return getRawRotation3d().rotateBy(offset.unaryMinus());
   }
 
 
diff --git a/src/main/java/swervelib/imu/PigeonSwerve.java b/src/main/java/swervelib/imu/PigeonSwerve.java
@@ -111,7 +111,7 @@ public Rotation3d getRawRotation3d()
   @Override
   public Rotation3d getRotation3d()
   {
-    return getRawRotation3d().minus(offset);
+    return getRawRotation3d().rotateBy(offset.unaryMinus());
   }
 
   /**
diff --git a/src/main/java/swervelib/imu/PigeonViaTalonSRXSwerve.java b/src/main/java/swervelib/imu/PigeonViaTalonSRXSwerve.java
@@ -121,7 +121,7 @@ public Rotation3d getRawRotation3d()
   @Override
   public Rotation3d getRotation3d()
   {
-    return getRawRotation3d().minus(offset);
+    return getRawRotation3d().rotateBy(offset.unaryMinus());
   }
 
   /**

Original file line number	Diff line number	Diff line change
`@@ -107,7 +107,7 @@ public Rotation3d getRawRotation3d()`
`107`	`107`	`@Override`
`108`	`108`	`public Rotation3d getRotation3d()`
`109`	`109`	`{`
`110`		`- return getRawRotation3d().minus(offset);`
	`110`	`+ return getRawRotation3d().rotateBy(offset.unaryMinus());`
`111`	`111`	`}`
`112`	`112`
`113`	`113`	`/**`
Original file line number	Diff line number	Diff line change
`@@ -105,7 +105,7 @@ public Rotation3d getRawRotation3d()`
`105`	`105`	`@Override`
`106`	`106`	`public Rotation3d getRotation3d()`
`107`	`107`	`{`
`108`		`- return getRawRotation3d().minus(offset);`
	`108`	`+ return getRawRotation3d().rotateBy(offset.unaryMinus());`
`109`	`109`	`}`
`110`	`110`
`111`	`111`	`/**`
Original file line number	Diff line number	Diff line change
`@@ -112,7 +112,7 @@ public Rotation3d getRawRotation3d()`
`112`	`112`	`@Override`
`113`	`113`	`public Rotation3d getRotation3d()`
`114`	`114`	`{`
`115`		`- return getRawRotation3d().minus(offset);`
	`115`	`+ return getRawRotation3d().rotateBy(offset.unaryMinus());`
`116`	`116`	`}`
`117`	`117`
`118`	`118`	`/**`
Original file line number	Diff line number	Diff line change
`@@ -109,7 +109,7 @@ public Rotation3d getRawRotation3d()`
`109`	`109`	`@Override`
`110`	`110`	`public Rotation3d getRotation3d()`
`111`	`111`	`{`
`112`		`- return getRawRotation3d().minus(offset);`
	`112`	`+ return getRawRotation3d().rotateBy(offset.unaryMinus());`
`113`	`113`	`}`
`114`	`114`
`115`	`115`	`/**`
Original file line number	Diff line number	Diff line change
`@@ -152,7 +152,7 @@ public Rotation3d getRawRotation3d()`
`152`	`152`	`@Override`
`153`	`153`	`public Rotation3d getRotation3d()`
`154`	`154`	`{`
`155`		`- return getRawRotation3d().minus(offset);`
	`155`	`+ return getRawRotation3d().rotateBy(offset.unaryMinus());`
`156`	`156`	`}`
`157`	`157`
`158`	`158`
Original file line number	Diff line number	Diff line change
`@@ -111,7 +111,7 @@ public Rotation3d getRawRotation3d()`
`111`	`111`	`@Override`
`112`	`112`	`public Rotation3d getRotation3d()`
`113`	`113`	`{`
`114`		`- return getRawRotation3d().minus(offset);`
	`114`	`+ return getRawRotation3d().rotateBy(offset.unaryMinus());`
`115`	`115`	`}`
`116`	`116`
`117`	`117`	`/**`
Original file line number	Diff line number	Diff line change
`@@ -121,7 +121,7 @@ public Rotation3d getRawRotation3d()`
`121`	`121`	`@Override`
`122`	`122`	`public Rotation3d getRotation3d()`
`123`	`123`	`{`
`124`		`- return getRawRotation3d().minus(offset);`
	`124`	`+ return getRawRotation3d().rotateBy(offset.unaryMinus());`
`125`	`125`	`}`
`126`	`126`
`127`	`127`	`/**`