Package swervelib.imu

Class CanandgyroSwerve

java.lang.Object
swervelib.imu.SwerveIMU
swervelib.imu.CanandgyroSwerve
public class CanandgyroSwerve extends SwerveIMU
SwerveIMU interface for the Boron Canandgyro by Redux Robotics

  • Field Details

    • STATUS_TIMEOUT_SECONDS

      public static double STATUS_TIMEOUT_SECONDS
      Wait time for status frames to show up.

  • Constructor Details

    • CanandgyroSwerve

      public CanandgyroSwerve(int canid)
      Generate the SwerveIMU for Canandgyro.
      Parameters:
      canid - CAN ID for the Boron Canandgyro

  • Method Details

    • factoryDefault

      public void factoryDefault()
      Reset Canandgyro to factory default.
      Specified by:
      factoryDefault in class SwerveIMU

    • clearStickyFaults

      public void clearStickyFaults()
      Clear sticky faults on Canandgyro.
      Specified by:
      clearStickyFaults in class SwerveIMU

    • setOffset

      public void setOffset(Rotation3d offset)
      Set the gyro offset.
      Specified by:
      setOffset in class SwerveIMU
      Parameters:
      offset - gyro offset as a Rotation3d.

    • setInverted

      public void setInverted(boolean invertIMU)
      Set the gyro to invert its default direction
      Specified by:
      setInverted in class SwerveIMU
      Parameters:
      invertIMU - invert gyro direction

    • getRawRotation3d

      public Rotation3d getRawRotation3d()
      Fetch the Rotation3d from the IMU without any zeroing. Robot relative.
      Specified by:
      getRawRotation3d in class SwerveIMU
      Returns:
      Rotation3d from the IMU.

    • getRotation3d

      public Rotation3d getRotation3d()
      Fetch the Rotation3d from the IMU. Robot relative.
      Specified by:
      getRotation3d in class SwerveIMU
      Returns:
      Rotation3d from the IMU.

    • getAccel

      public Optional<Translation3d> getAccel()
      Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns empty.
      Specified by:
      getAccel in class SwerveIMU
      Returns:
      Translation3d of the acceleration as an Optional.

    • getRate

      public double getRate()
      Fetch the rotation rate from the IMU in degrees per second. If rotation rate isn't supported returns empty.
      Specified by:
      getRate in class SwerveIMU
      Returns:
      Double of the rotation rate as an Optional.

    • getIMU

      public Object getIMU()
      Get the instantiated Canandgyro IMU object.
      Specified by:
      getIMU in class SwerveIMU
      Returns:
      IMU object.