Updated swervelib

swervelib/imu/SwerveIMU.java

@@ -0,0 +1,39 @@
+package frc.robot.subsystems.swervedrive2.swervelib.imu;
+
+/**
+ * Swerve IMU abstraction to define a standard interface with a swerve drive.
+ */
+public abstract class SwerveIMU
+{
+
+  /**
+   * Reset IMU to factory default.
+   */
+  public abstract void factoryDefault();
+
+  /**
+   * Clear sticky faults on IMU.
+   */
+  public abstract void clearStickyFaults();
+
+  /**
+   * Set the yaw in degrees.
+   *
+   * @param yaw Yaw angle in degrees.
+   */
+  public abstract void setYaw(double yaw);
+
+  /**
+   * Fetch the yaw/pitch/roll from the IMU.
+   *
+   * @param yprArray Array which will be filled with {yaw, pitch, roll} in degrees.
+   */
+  public abstract void getYawPitchRoll(double[] yprArray);
+
+  /**
+   * Get the instantiated IMU object.
+   *
+   * @return IMU object.
+   */
+  public abstract Object getIMU();
+}