Updated docs, renamed SwerveDrive lock function and setBrake function

swervelib/imu/AnalogGyroSwerve.java

@@ -0,0 +1,89 @@
+package swervelib.imu;
+
+import edu.wpi.first.wpilibj.AnalogGyro;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+/**
+ * Creates a IMU for {@link edu.wpi.first.wpilibj.AnalogGyro} devices, only uses yaw.
+ */
+public class AnalogGyroSwerve extends SwerveIMU
+{
+
+  /**
+   * Gyroscope object.
+   */
+  private final AnalogGyro gyro;
+  /**
+   * The yaw offset for the gyroscope.
+   */
+  private       double     yawOffset;
+
+  /**
+   * Analog port in which the gyroscope is connected. Can only be attached to analog ports 0 or 1.
+   *
+   * @param channel Analog port 0 or 1.
+   */
+  public AnalogGyroSwerve(int channel)
+  {
+    if (!(channel == 0 || channel == 1))
+    {
+      throw new RuntimeException("Analog Gyroscope must be attached to port 0 or 1 on the roboRIO.\n");
+    }
+    gyro = new AnalogGyro(channel);
+    SmartDashboard.putData(gyro);
+    factoryDefault();
+  }
+
+  /**
+   * Reset IMU to factory default.
+   */
+  @Override
+  public void factoryDefault()
+  {
+    yawOffset = gyro.getAngle() % 360;
+  }
+
+  /**
+   * Clear sticky faults on IMU.
+   */
+  @Override
+  public void clearStickyFaults()
+  {
+    // Do nothing.
+  }
+
+  /**
+   * Set the yaw in degrees.
+   *
+   * @param yaw Yaw angle in degrees.
+   */
+  @Override
+  public void setYaw(double yaw)
+  {
+    yawOffset = (yaw % 360) + (gyro.getAngle() % 360);
+  }
+
+  /**
+   * Fetch the yaw/pitch/roll from the IMU.
+   *
+   * @param yprArray Array which will be filled with {yaw, pitch, roll} in degrees.
+   */
+  @Override
+  public void getYawPitchRoll(double[] yprArray)
+  {
+    yprArray[0] = (gyro.getAngle() % 360) - yawOffset;
+    yprArray[1] = 0;
+    yprArray[2] = 0;
+  }
+
+  /**
+   * Get the instantiated IMU object.
+   *
+   * @return IMU object.
+   */
+  @Override
+  public Object getIMU()
+  {
+    return gyro;
+  }
+}