Package swervelib.imu

Class IMUVelocity

java.lang.Object

swervelib.imu.IMUVelocity

public class IMUVelocity
extends Object

Generic IMU Velocity filter.

Constructor Summary

Constructors

Constructor	Description
IMUVelocity(SwerveIMU gyro, double periodSeconds, int averagingTaps)	Constructor for the IMU Velocity.

Method Summary

Modifier and Type	Method	Description
static IMUVelocity	createIMUVelocity(SwerveIMU gyro)	Static factory for IMU Velocity.
double	getVelocity()	Get the robot's angular velocity based on averaged meaasurements from the IMU.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

IMUVelocity

public IMUVelocity(SwerveIMU gyro,
 double periodSeconds,
 int averagingTaps)

Constructor for the IMU Velocity.

Parameters:

gyro - The SwerveIMU gyro.

periodSeconds - The rate to collect measurements from the gyro, in the form (1/number of samples per second), make sure this does not exceed the update rate of your IMU.

averagingTaps - The number of samples to used for the moving average linear filter. Higher values will not allow the system to update to changes in velocity, lower values may create a less smooth signal. Expected taps will probably be ~2-8, with the goal of having the lowest smooth value.

Method Details

createIMUVelocity

public static IMUVelocity createIMUVelocity(SwerveIMU gyro)

Static factory for IMU Velocity. Supported IMU rates will be as quick as possible but will not exceed 100hz and will use 5 taps (supported IMUs are listed in swervelib's IMU folder). Other gyroscopes will default to 50hz and 5 taps. For custom rates please use the IMUVelocity constructor.

Parameters:

gyro - The SwerveIMU gyro.

Returns:

IMUVelocity for the given gyro with adjusted period readings for velocity.

getVelocity

public double getVelocity()

Get the robot's angular velocity based on averaged meaasurements from the IMU. Velocity is multiplied by 1e+6 (1,000,000) because the timestamps are in microseconds.

Returns:

robot's angular velocity in rads/s as a double.