docs/swervelib/imu/SwerveIMU.html

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<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib.imu</a></div>
<h1 title="Class SwerveIMU" class="title">Class SwerveIMU</h1>
</div>
<div class="inheritance" title="Inheritance Tree"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">java.lang.Object</a>
<div class="inheritance">swervelib.imu.SwerveIMU</div>
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<section class="class-description" id="class-description">
<dl class="notes">
<dt>Direct Known Subclasses:</dt>
<dd><code><a href="ADIS16448Swerve.html" title="class in swervelib.imu">ADIS16448Swerve</a></code>, <code><a href="ADIS16470Swerve.html" title="class in swervelib.imu">ADIS16470Swerve</a></code>, <code><a href="ADXRS450Swerve.html" title="class in swervelib.imu">ADXRS450Swerve</a></code>, <code><a href="AnalogGyroSwerve.html" title="class in swervelib.imu">AnalogGyroSwerve</a></code>, <code><a href="NavXSwerve.html" title="class in swervelib.imu">NavXSwerve</a></code>, <code><a href="Pigeon2Swerve.html" title="class in swervelib.imu">Pigeon2Swerve</a></code>, <code><a href="PigeonSwerve.html" title="class in swervelib.imu">PigeonSwerve</a></code></dd>
</dl>
<hr>
<div class="type-signature"><span class="modifiers">public abstract class </span><span class="element-name type-name-label">SwerveIMU</span>
<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span></div>
<div class="block">Swerve IMU abstraction to define a standard interface with a swerve drive.</div>
</section>
<section class="summary">
<ul class="summary-list">
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
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<section class="constructor-summary" id="constructor-summary">
<h2>Constructor Summary</h2>
<div class="caption"><span>Constructors</span></div>
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<div class="table-header col-first">Constructor</div>
<div class="table-header col-last">Description</div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E()" class="member-name-link">SwerveIMU</a>()</code></div>
<div class="col-last even-row-color">&nbsp;</div>
</div>
</section>
</li>
<!-- ========== METHOD SUMMARY =========== -->
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<section class="method-summary" id="method-summary">
<h2>Method Summary</h2>
<div id="method-summary-table">
<div class="table-tabs" role="tablist" aria-orientation="horizontal"><button id="method-summary-table-tab0" role="tab" aria-selected="true" aria-controls="method-summary-table.tabpanel" tabindex="0" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table', 3)" class="active-table-tab">All Methods</button><button id="method-summary-table-tab2" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab2', 3)" class="table-tab">Instance Methods</button><button id="method-summary-table-tab3" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab3', 3)" class="table-tab">Abstract Methods</button></div>
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<div class="summary-table three-column-summary" aria-labelledby="method-summary-table-tab0">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Method</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code>abstract void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code><a href="#clearStickyFaults()" class="member-name-link">clearStickyFaults</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3">
<div class="block">Clear sticky faults on IMU.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code>abstract void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code><a href="#factoryDefault()" class="member-name-link">factoryDefault</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3">
<div class="block">Reset IMU to factory default.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code>abstract <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html" title="class or interface in java.util" class="external-link">Optional</a>&lt;edu.wpi.first.math.geometry.Translation3d&gt;</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code><a href="#getAccel()" class="member-name-link">getAccel</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3">
<div class="block">Fetch the acceleration [x, y, z] from the IMU in meters per second squared.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code>abstract <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code><a href="#getIMU()" class="member-name-link">getIMU</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3">
<div class="block">Get the instantiated IMU object.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code>abstract edu.wpi.first.math.geometry.Rotation3d</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code><a href="#getRawRotation3d()" class="member-name-link">getRawRotation3d</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3">
<div class="block">Fetch the <code>Rotation3d</code> from the IMU without any zeroing.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code>abstract edu.wpi.first.math.geometry.Rotation3d</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code><a href="#getRotation3d()" class="member-name-link">getRotation3d</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3">
<div class="block">Fetch the <code>Rotation3d</code> from the IMU.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code>abstract void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code><a href="#setOffset(edu.wpi.first.math.geometry.Rotation3d)" class="member-name-link">setOffset</a><wbr>(edu.wpi.first.math.geometry.Rotation3d&nbsp;offset)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3">
<div class="block">Set the gyro offset.</div>
</div>
</div>
</div>
</div>
<div class="inherited-list">
<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
</section>
</li>
</ul>
</section>
<section class="details">
<ul class="details-list">
<!-- ========= CONSTRUCTOR DETAIL ======== -->
<li>
<section class="constructor-details" id="constructor-detail">
<h2>Constructor Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="&lt;init&gt;()">
<h3>SwerveIMU</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveIMU</span>()</div>
</section>
</li>
</ul>
</section>
</li>
<!-- ============ METHOD DETAIL ========== -->
<li>
<section class="method-details" id="method-detail">
<h2>Method Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="factoryDefault()">
<h3>factoryDefault</h3>
<div class="member-signature"><span class="modifiers">public abstract</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">factoryDefault</span>()</div>
<div class="block">Reset IMU to factory default.</div>
</section>
</li>
<li>
<section class="detail" id="clearStickyFaults()">
<h3>clearStickyFaults</h3>
<div class="member-signature"><span class="modifiers">public abstract</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">clearStickyFaults</span>()</div>
<div class="block">Clear sticky faults on IMU.</div>
</section>
</li>
<li>
<section class="detail" id="setOffset(edu.wpi.first.math.geometry.Rotation3d)">
<h3>setOffset</h3>
<div class="member-signature"><span class="modifiers">public abstract</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setOffset</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Rotation3d&nbsp;offset)</span></div>
<div class="block">Set the gyro offset.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>offset</code> - gyro offset as a <code>Rotation3d</code>.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getRawRotation3d()">
<h3>getRawRotation3d</h3>
<div class="member-signature"><span class="modifiers">public abstract</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Rotation3d</span>&nbsp;<span class="element-name">getRawRotation3d</span>()</div>
<div class="block">Fetch the <code>Rotation3d</code> from the IMU without any zeroing. Robot relative.</div>
<dl class="notes">
<dt>Returns:</dt>
<dd><code>Rotation3d</code> from the IMU.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getRotation3d()">
<h3>getRotation3d</h3>
<div class="member-signature"><span class="modifiers">public abstract</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Rotation3d</span>&nbsp;<span class="element-name">getRotation3d</span>()</div>
<div class="block">Fetch the <code>Rotation3d</code> from the IMU. Robot relative.</div>
<dl class="notes">
<dt>Returns:</dt>
<dd><code>Rotation3d</code> from the IMU.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getAccel()">
<h3>getAccel</h3>
<div class="member-signature"><span class="modifiers">public abstract</span>&nbsp;<span class="return-type"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html" title="class or interface in java.util" class="external-link">Optional</a>&lt;edu.wpi.first.math.geometry.Translation3d&gt;</span>&nbsp;<span class="element-name">getAccel</span>()</div>
<div class="block">Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns
 empty.</div>
<dl class="notes">
<dt>Returns:</dt>
<dd><code>Translation3d</code> of the acceleration as an <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html" title="class or interface in java.util" class="external-link"><code>Optional</code></a>.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getIMU()">
<h3>getIMU</h3>
<div class="member-signature"><span class="modifiers">public abstract</span>&nbsp;<span class="return-type"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span>&nbsp;<span class="element-name">getIMU</span>()</div>
<div class="block">Get the instantiated IMU object.</div>
<dl class="notes">
<dt>Returns:</dt>
<dd>IMU object.</dd>
</dl>
</section>
</li>
</ul>
</section>
</li>
</ul>
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