Package swervelib.imu
Class ADXRS450Swerve
java.lang.Object
swervelib.imu.SwerveIMU
swervelib.imu.ADXRS450Swerve
IMU Swerve class for the
ADXRS450_Gyro
device.-
Field Summary
Modifier and TypeFieldDescriptionprivate final edu.wpi.first.wpilibj.ADXRS450_Gyro
ADXRS450_Gyro
device to read the current headings from.private boolean
Inversion for the gyroprivate edu.wpi.first.math.geometry.Rotation3d
Offset for the ADXRS450. -
Constructor Summary
ConstructorDescriptionConstruct the ADXRS450 imu and reset default configurations. -
Method Summary
Modifier and TypeMethodDescriptionvoid
Clear sticky faults on IMU.void
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.getIMU()
Get the instantiated IMU object.edu.wpi.first.math.geometry.Rotation3d
Fetch theRotation3d
from the IMU without any zeroing.edu.wpi.first.math.geometry.Rotation3d
Fetch theRotation3d
from the IMU.void
setInverted
(boolean invertIMU) Set the gyro to invert its default directionvoid
setOffset
(edu.wpi.first.math.geometry.Rotation3d offset) Set the gyro offset.
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Field Details
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imu
private final edu.wpi.first.wpilibj.ADXRS450_Gyro imuADXRS450_Gyro
device to read the current headings from. -
offset
private edu.wpi.first.math.geometry.Rotation3d offsetOffset for the ADXRS450. -
invertedIMU
private boolean invertedIMUInversion for the gyro
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Constructor Details
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ADXRS450Swerve
public ADXRS450Swerve()Construct the ADXRS450 imu and reset default configurations. Publish the gyro to the SmartDashboard.
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Method Details
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factoryDefault
public void factoryDefault()Reset IMU to factory default.- Specified by:
factoryDefault
in classSwerveIMU
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clearStickyFaults
public void clearStickyFaults()Clear sticky faults on IMU.- Specified by:
clearStickyFaults
in classSwerveIMU
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setOffset
public void setOffset(edu.wpi.first.math.geometry.Rotation3d offset) Set the gyro offset. -
setInverted
public void setInverted(boolean invertIMU) Set the gyro to invert its default direction- Specified by:
setInverted
in classSwerveIMU
- Parameters:
invertIMU
- invert gyro direction
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getRawRotation3d
public edu.wpi.first.math.geometry.Rotation3d getRawRotation3d()Fetch theRotation3d
from the IMU without any zeroing. Robot relative.- Specified by:
getRawRotation3d
in classSwerveIMU
- Returns:
Rotation3d
from the IMU.
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getRotation3d
public edu.wpi.first.math.geometry.Rotation3d getRotation3d()Fetch theRotation3d
from the IMU. Robot relative.- Specified by:
getRotation3d
in classSwerveIMU
- Returns:
Rotation3d
from the IMU.
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getAccel
Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns empty. -
getIMU
Get the instantiated IMU object.
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