SwerveIMU

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

Direct Known Subclasses:

NavXSwerve, Pigeon2Swerve, PigeonSwerve
```
public abstract class SwerveIMU
extends Object
```
Swerve IMU abstraction to define a standard interface with a swerve drive.

Constructor Summary

Constructors
Constructor Description

SwerveIMU()

Method Summary

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

- Constructor Detail
  - SwerveIMU
```
public SwerveIMU()
```
- Method Detail
  - factoryDefault
```
public abstract void factoryDefault()
```
    Reset IMU to factory default.
  - clearStickyFaults
```
public abstract void clearStickyFaults()
```
    Clear sticky faults on IMU.
  - setYaw
```
public abstract void setYaw(double yaw)
```
    Set the yaw in degrees.
    
    Parameters:
    
    yaw - Yaw angle in degrees.
  - getYawPitchRoll
```
public abstract void getYawPitchRoll(double[] yprArray)
```
    Fetch the yaw/pitch/roll from the IMU.
    
    Parameters:
    
    yprArray - Array which will be filled with {yaw, pitch, roll} in degrees.
  - getIMU
```
public abstract Object getIMU()
```
    Get the instantiated IMU object.
    
    Returns:
    
    IMU object.