Fix ADIS16470 Gyro in Java

wpilibsuite · Nov 25, 2024 · 37b84d6 · 37b84d6
1 parent b7eb9fb
commit 37b84d6
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
@@ -609,7 +609,7 @@ private int readRegister(int reg) {
     m_spi.write(buf, 2);
     m_spi.read(false, buf, 2);
 
-    return (buf[0] << 8) & buf[1];
+    return (buf[0] << 8) | buf[1];
   }
 
   private void writeRegister(int reg, int val) {