AnalogGyroSwerve

java.lang.Object

swervelib.imu.SwerveIMU

swervelib.imu.AnalogGyroSwerve

public class AnalogGyroSwerve extends SwerveIMU

Creates a IMU for AnalogGyro devices, only uses yaw.

Field Summary

Fields

Modifier and Type

Field

Description

private final edu.wpi.first.wpilibj.AnalogGyro

gyro

Gyroscope object.

private double

yawOffset

The yaw offset for the gyroscope.
Constructor Summary

Constructors

Constructor

Description

AnalogGyroSwerve(int channel)

Analog port in which the gyroscope is connected.
Method Summary

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 Details
- gyro
  
  private final edu.wpi.first.wpilibj.AnalogGyro gyro
  
  Gyroscope object.
- yawOffset
  
  private double yawOffset
  
  The yaw offset for the gyroscope.
Constructor Details
- AnalogGyroSwerve
  
  public AnalogGyroSwerve(int channel)
  
  Analog port in which the gyroscope is connected. Can only be attached to analog ports 0 or 1.
  
  Parameters:
  
  channel - Analog port 0 or 1.
Method Details
- 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.