Package swervelib.imu
Class SwerveIMU
java.lang.Object
swervelib.imu.SwerveIMU
- Direct Known Subclasses:
ADIS16448Swerve
,ADIS16470Swerve
,ADXRS450Swerve
,AnalogGyroSwerve
,NavXSwerve
,Pigeon2Swerve
,PigeonSwerve
Swerve IMU abstraction to define a standard interface with a swerve drive.
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Constructor Summary
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Method Summary
Modifier and TypeMethodDescriptionabstract void
Clear sticky faults on IMU.abstract void
Reset IMU to factory default.abstract Optional<edu.wpi.first.math.geometry.Translation3d>
getAccel()
Fetch the acceleration [x, y, z] from the IMU in meters per second squared.abstract Object
getIMU()
Get the instantiated IMU object.abstract edu.wpi.first.math.geometry.Rotation3d
Fetch theRotation3d
from the IMU without any zeroing.abstract edu.wpi.first.math.geometry.Rotation3d
Fetch theRotation3d
from the IMU.abstract void
setInverted
(boolean invertIMU) Set the gyro to invert its default direction.abstract void
setOffset
(edu.wpi.first.math.geometry.Rotation3d offset) Set the gyro offset.
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Constructor Details
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SwerveIMU
public SwerveIMU()
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Method Details
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factoryDefault
public abstract void factoryDefault()Reset IMU to factory default. -
clearStickyFaults
public abstract void clearStickyFaults()Clear sticky faults on IMU. -
setOffset
public abstract void setOffset(edu.wpi.first.math.geometry.Rotation3d offset) Set the gyro offset.- Parameters:
offset
- gyro offset as aRotation3d
.
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setInverted
public abstract void setInverted(boolean invertIMU) Set the gyro to invert its default direction.- Parameters:
invertIMU
- gyro direction
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getRawRotation3d
public abstract edu.wpi.first.math.geometry.Rotation3d getRawRotation3d()Fetch theRotation3d
from the IMU without any zeroing. Robot relative.- Returns:
Rotation3d
from the IMU.
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getRotation3d
public abstract edu.wpi.first.math.geometry.Rotation3d getRotation3d()Fetch theRotation3d
from the IMU. Robot relative.- 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.- Returns:
Translation3d
of the acceleration as anOptional
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getIMU
Get the instantiated IMU object.- Returns:
- IMU object.
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