New IMU API angular velocity wraps around

[rbrott]

I have an op mode that essentially calls imu.getRobotAngularVelocity(AngleUnit.RADIANS) in a loop as voltage applied to the motors slowly ramps. Here's the plot:

I wouldn't expect the velocity here to wrap around.

I haven't had the chance to investigate in detail. I'm not sure if the issue is with the imu -> robot transform or is with the hardware (I'm actually not sure if this data is from a BNO or BHI).

[gearsincorg]

Yes. Weird that it seems to be wrapping at PI. Might be normal for angle, but not angular velocity.

[Windwoes]

This was fixed in v10.0