PigeonSwerve

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

public class PigeonSwerve
extends SwerveIMU

SwerveIMU interface for the Pigeon.

Field Summary

Fields
Modifier and Type Field Description

(package private) com.ctre.phoenix.sensors.WPI_PigeonIMU imu

Constructor Summary

Constructors
Constructor Description

PigeonSwerve(int canid)
Generate the SwerveIMU for pigeon.

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, inverts them all if SwerveIMU is inverted.
`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
  - imu
```
com.ctre.phoenix.sensors.WPI_PigeonIMU imu
```
- Constructor Detail
  - PigeonSwerve
```
public PigeonSwerve(int canid)
```
    Generate the SwerveIMU for pigeon.
    
    Parameters:
    
    canid - CAN ID for the pigeon, does not support CANBus.
- 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 - Angle in degrees.
  - getYawPitchRoll
```
public void getYawPitchRoll(double[] yprArray)
```
    Fetch the yaw/pitch/roll from the IMU, inverts them all if SwerveIMU is inverted.
    
    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.