Package swervelib.imu

Class ADIS16470Swerve

java.lang.Object
swervelib.imu.SwerveIMU
swervelib.imu.ADIS16470Swerve
public class ADIS16470Swerve extends SwerveIMU
IMU Swerve class for the ADIS16470_IMU device.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    private final edu.wpi.first.wpilibj.ADIS16470_IMU
    imu
    ADIS16470_IMU device to read the current headings from.
    private boolean
    invertedIMU
    Inversion for the gyro
    private edu.wpi.first.math.geometry.Rotation3d
    offset
    Offset for the ADIS16470.

  • Constructor Summary

    Constructors
    Constructor
    Description
    ADIS16470Swerve()
    Construct the ADIS16470 imu and reset default configurations.

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    clearStickyFaults()
    Clear sticky faults on IMU.
    void
    factoryDefault()
    Reset IMU to factory default.
    Optional<edu.wpi.first.math.geometry.Translation3d>
    getAccel()
    Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
    Object
    getIMU()
    Get the instantiated IMU object.
    edu.wpi.first.math.geometry.Rotation3d
    getRawRotation3d()
    Fetch the Rotation3d from the IMU without any zeroing.
    edu.wpi.first.math.geometry.Rotation3d
    getRotation3d()
    Fetch the Rotation3d from the IMU.
    void
    setInverted(boolean invertIMU)
    Set the gyro to invert its default direction
    void
    setOffset(edu.wpi.first.math.geometry.Rotation3d offset)
    Set the gyro offset.

    Methods inherited from class java.lang.Object

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

  • Field Details

    • imu

      private final edu.wpi.first.wpilibj.ADIS16470_IMU imu
      ADIS16470_IMU device to read the current headings from.

    • offset

      private edu.wpi.first.math.geometry.Rotation3d offset
      Offset for the ADIS16470.

    • invertedIMU

      private boolean invertedIMU
      Inversion for the gyro

  • Constructor Details

    • ADIS16470Swerve

      public ADIS16470Swerve()
      Construct the ADIS16470 imu and reset default configurations. Publish the gyro to the SmartDashboard.

  • Method Details

    • factoryDefault

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

    • clearStickyFaults

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

    • setOffset

      public void setOffset(edu.wpi.first.math.geometry.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 edu.wpi.first.math.geometry.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 edu.wpi.first.math.geometry.Rotation3d getRotation3d()
      Fetch the Rotation3d from the IMU. Robot relative.
      Specified by:
      getRotation3d in class SwerveIMU
      Returns:
      Rotation3d from the IMU.

    • getAccel

      public Optional<edu.wpi.first.math.geometry.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.

    • getIMU

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