SwerveIMU

java.lang.Object

swervelib.imu.SwerveIMU

Direct Known Subclasses:: ADIS16448Swerve, ADIS16470Swerve, ADXRS450Swerve, AnalogGyroSwerve, 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

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 Details
- SwerveIMU
  
  public SwerveIMU()
Method Details
- 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.