chassis: Latency compensate steer angle readings

thedropbears · Mar 10, 2024 · d42306a · d42306a
1 parent ffbc668
commit d42306a
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/components/chassis.py b/components/chassis.py
@@ -138,7 +138,10 @@ def get_angle_absolute(self) -> float:
 
     def get_angle_integrated(self) -> float:
         """Gets steer angle from motor's integrated relative encoder"""
-        return self.steer.get_position().value * math.tau
+        rot = self.steer.get_position().get_latency_compensated_value(
+            self.steer.get_velocity()
+        )
+        return rot * math.tau
 
     def get_rotation(self) -> Rotation2d:
         """Get the steer angle as a Rotation2d"""