NavXSwerve

java.lang.Object
- frc.robot.subsystems.swervedrive2.swervelib.imu.SwerveIMU
- - frc.robot.subsystems.swervedrive2.swervelib.imu.NavXSwerve

public class NavXSwerve
extends SwerveIMU

Communicates with the NavX as the IMU.

Field Summary

Fields
Modifier and Type Field Description

private com.kauailabs.navx.frc.AHRS gyro
NavX IMU.

private double yawOffset
Offset for the NavX yaw reading.

Constructor Summary

Constructors
Constructor Description

NavXSwerve()
Constructor for the NavX swerve.

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`void`	`clearStickyFaults()`	Clear sticky faults on IMU.
`void`	`factoryDefault()`	Reset IMU to factory default.
`Object`	`getIMU()`	Get the instantiated IMU object.
`void`	`getYawPitchRoll(double[] yprArray)`	Fetch the yaw/pitch/roll from the IMU.
`void`	`setYaw(double yaw)`	Set the yaw in degrees.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - gyro
```
private com.kauailabs.navx.frc.AHRS gyro
```
    NavX IMU.
  - yawOffset
```
private double yawOffset
```
    Offset for the NavX yaw reading.
- Constructor Detail
  - NavXSwerve
```
public NavXSwerve()
```
    Constructor for the NavX swerve.
- Method Detail
  - 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
  - setYaw
```
public void setYaw(double yaw)
```
    Set the yaw in degrees.
    
    Specified by:
    
    setYaw in class SwerveIMU
    
    Parameters:
    
    yaw - Yaw angle in degrees.
  - getYawPitchRoll
```
public void getYawPitchRoll(double[] yprArray)
```
    Fetch the yaw/pitch/roll from the IMU.
    
    Specified by:
    
    getYawPitchRoll in class SwerveIMU
    
    Parameters:
    
    yprArray - Array which will be filled with {yaw, pitch, roll} in degrees.
  - getIMU
```
public Object getIMU()
```
    Get the instantiated IMU object.
    
    Specified by:
    
    getIMU in class SwerveIMU
    
    Returns:
    
    IMU object.