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Updated IMU

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thenetworkgrinch
2023-03-08 23:34:33 -06:00
parent ca03b2122f
commit ec958aecaa
117 changed files with 678 additions and 635 deletions
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4
docs/swervelib/SwerveController.html
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Mar 06 20:45:08 CST 2023 -->
<!-- Generated by javadoc (17) on Wed Mar 08 23:33:54 CST 2023 -->
<title>SwerveController</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-03-06">
<meta name="dc.created" content="2023-03-08">
<meta name="description" content="declaration: package: swervelib, class: SwerveController">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">

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docs/swervelib/SwerveDrive.html
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Mar 06 20:45:08 CST 2023 -->
<!-- Generated by javadoc (17) on Wed Mar 08 23:33:54 CST 2023 -->
<title>SwerveDrive</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-03-06">
<meta name="dc.created" content="2023-03-08">
<meta name="description" content="declaration: package: swervelib, class: SwerveDrive">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -772,7 +772,7 @@ loadScripts(document, 'script');</script>
<section class="detail" id="setGyro(edu.wpi.first.math.geometry.Rotation3d)">
<h3>setGyro</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setGyro</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Rotation3d&nbsp;gyro)</span></div>
<div class="block">Set the Gyroscope offset using a <code>Rotation3d</code> object. (Only yaw works currently.)</div>
<div class="block">Set the Gyroscope offset using a <code>Rotation3d</code> object.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>gyro</code> - Gyroscope offset.</dd>

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docs/swervelib/SwerveModule.html
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Mar 06 20:45:08 CST 2023 -->
<!-- Generated by javadoc (17) on Wed Mar 08 23:33:54 CST 2023 -->
<title>SwerveModule</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-03-06">
<meta name="dc.created" content="2023-03-08">
<meta name="description" content="declaration: package: swervelib, class: SwerveModule">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -126,14 +126,19 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color">
<div class="block">Last angle set for the swerve module.</div>
</div>
<div class="col-first odd-row-color"><code>int</code></div>
<div class="col-second odd-row-color"><code><a href="#moduleNumber" class="member-name-link">moduleNumber</a></code></div>
<div class="col-first odd-row-color"><code>double</code></div>
<div class="col-second odd-row-color"><code><a href="#lastVelocity" class="member-name-link">lastVelocity</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Last velocity set for the swerve module.</div>
</div>
<div class="col-first even-row-color"><code>int</code></div>
<div class="col-second even-row-color"><code><a href="#moduleNumber" class="member-name-link">moduleNumber</a></code></div>
<div class="col-last even-row-color">
<div class="block">Module number for kinematics, usually 0 to 3.</div>
</div>
<div class="col-first even-row-color"><code>private <a href="simulation/SwerveModuleSimulation.html" title="class in swervelib.simulation">SwerveModuleSimulation</a></code></div>
<div class="col-second even-row-color"><code><a href="#simModule" class="member-name-link">simModule</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code>private <a href="simulation/SwerveModuleSimulation.html" title="class in swervelib.simulation">SwerveModuleSimulation</a></code></div>
<div class="col-second odd-row-color"><code><a href="#simModule" class="member-name-link">simModule</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Simulated swerve module.</div>
</div>
</div>
@@ -281,6 +286,13 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="lastVelocity">
<h3>lastVelocity</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">lastVelocity</span></div>
<div class="block">Last velocity set for the swerve module.</div>
</section>
</li>
<li>
<section class="detail" id="simModule">
<h3>simModule</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type"><a href="simulation/SwerveModuleSimulation.html" title="class in swervelib.simulation">SwerveModuleSimulation</a></span>&nbsp;<span class="element-name">simModule</span></div>

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docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Mar 06 20:45:08 CST 2023 -->
<!-- Generated by javadoc (17) on Wed Mar 08 23:33:54 CST 2023 -->
<title>AnalogAbsoluteEncoderSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-03-06">
<meta name="dc.created" content="2023-03-08">
<meta name="description" content="declaration: package: swervelib.encoders, class: AnalogAbsoluteEncoderSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

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docs/swervelib/encoders/CANCoderSwerve.html
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<head>
<!-- Generated by javadoc (17) on Mon Mar 06 20:45:08 CST 2023 -->
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<title>CANCoderSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-03-06">
<meta name="dc.created" content="2023-03-08">
<meta name="description" content="declaration: package: swervelib.encoders, class: CANCoderSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
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docs/swervelib/encoders/SparkMaxEncoderSwerve.html
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Mar 06 20:45:08 CST 2023 -->
<!-- Generated by javadoc (17) on Wed Mar 08 23:33:54 CST 2023 -->
<title>SparkMaxEncoderSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-03-06">
<meta name="dc.created" content="2023-03-08">
<meta name="description" content="declaration: package: swervelib.encoders, class: SparkMaxEncoderSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

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docs/swervelib/encoders/SwerveAbsoluteEncoder.html
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Mar 06 20:45:08 CST 2023 -->
<!-- Generated by javadoc (17) on Wed Mar 08 23:33:54 CST 2023 -->
<title>SwerveAbsoluteEncoder</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-03-06">
<meta name="dc.created" content="2023-03-08">
<meta name="description" content="declaration: package: swervelib.encoders, class: SwerveAbsoluteEncoder">
<meta name="generator" content="javadoc/ClassWriterImpl">
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docs/swervelib/encoders/package-summary.html
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Mar 06 20:45:08 CST 2023 -->
<!-- Generated by javadoc (17) on Wed Mar 08 23:33:54 CST 2023 -->
<title>swervelib.encoders</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-03-06">
<meta name="dc.created" content="2023-03-08">
<meta name="description" content="declaration: package: swervelib.encoders">
<meta name="generator" content="javadoc/PackageWriterImpl">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Mar 06 20:45:08 CST 2023 -->
<!-- Generated by javadoc (17) on Wed Mar 08 23:33:54 CST 2023 -->
<title>swervelib.encoders Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-03-06">
<meta name="dc.created" content="2023-03-08">
<meta name="description" content="tree: package: swervelib.encoders">
<meta name="generator" content="javadoc/PackageTreeWriter">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

60
docs/swervelib/imu/ADIS16448Swerve.html
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Mar 06 20:45:08 CST 2023 -->
<!-- Generated by javadoc (17) on Wed Mar 08 23:33:54 CST 2023 -->
<title>ADIS16448Swerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-03-06">
<meta name="dc.created" content="2023-03-08">
<meta name="description" content="declaration: package: swervelib.imu, class: ADIS16448Swerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -98,10 +98,10 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color">
<div class="block"><code>ADIS16448_IMU</code> device to read the current headings from.</div>
</div>
<div class="col-first odd-row-color"><code>private double</code></div>
<div class="col-second odd-row-color"><code><a href="#yawOffset" class="member-name-link">yawOffset</a></code></div>
<div class="col-first odd-row-color"><code>private edu.wpi.first.math.geometry.Rotation3d</code></div>
<div class="col-second odd-row-color"><code><a href="#offset" class="member-name-link">offset</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Offset for the ADIS16448 yaw reading.</div>
<div class="block">Offset for the ADIS16448.</div>
</div>
</div>
</section>
@@ -153,19 +153,19 @@ loadScripts(document, 'script');</script>
<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-tab4"><code>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-tab4"><code><a href="#getRotation3d()" class="member-name-link">getRotation3d</a>()</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><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-tab4">
<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-tab4"><code>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-tab4"><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-tab4">
<div class="block">Fetch the <code>Rotation3d</code> from the IMU.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getYawPitchRoll(double%5B%5D)" class="member-name-link">getYawPitchRoll</a><wbr>(double[]&nbsp;yprArray)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Fetch the yaw/pitch/roll from the IMU.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setYaw(double)" class="member-name-link">setYaw</a><wbr>(double&nbsp;yaw)</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><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-tab4">
<div class="block">Set the yaw in degrees.</div>
<div class="block">Set the gyro offset.</div>
</div>
</div>
</div>
@@ -192,10 +192,10 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="yawOffset">
<h3>yawOffset</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">yawOffset</span></div>
<div class="block">Offset for the ADIS16448 yaw reading.</div>
<section class="detail" id="offset">
<h3>offset</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Rotation3d</span>&nbsp;<span class="element-name">offset</span></div>
<div class="block">Offset for the ADIS16448.</div>
</section>
</li>
</ul>
@@ -244,28 +244,28 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="setYaw(double)">
<h3>setYaw</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setYaw</span><wbr><span class="parameters">(double&nbsp;yaw)</span></div>
<div class="block">Set the yaw in degrees.</div>
<section class="detail" id="setOffset(edu.wpi.first.math.geometry.Rotation3d)">
<h3>setOffset</h3>
<div class="member-signature"><span class="modifiers">public</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>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#setYaw(double)">setYaw</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dd><code><a href="SwerveIMU.html#setOffset(edu.wpi.first.math.geometry.Rotation3d)">setOffset</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Parameters:</dt>
<dd><code>yaw</code> - Yaw angle in degrees.</dd>
<dd><code>offset</code> - gyro offset as a <code>Rotation3d</code>.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getYawPitchRoll(double[])">
<h3>getYawPitchRoll</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">getYawPitchRoll</span><wbr><span class="parameters">(double[]&nbsp;yprArray)</span></div>
<div class="block">Fetch the yaw/pitch/roll from the IMU.</div>
<section class="detail" id="getRawRotation3d()">
<h3>getRawRotation3d</h3>
<div class="member-signature"><span class="modifiers">public</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>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#getYawPitchRoll(double%5B%5D)">getYawPitchRoll</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Parameters:</dt>
<dd><code>yprArray</code> - Array which will be filled with {yaw, pitch, roll} in degrees.</dd>
<dd><code><a href="SwerveIMU.html#getRawRotation3d()">getRawRotation3d</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Returns:</dt>
<dd><code>Rotation3d</code> from the IMU.</dd>
</dl>
</section>
</li>

60
docs/swervelib/imu/ADIS16470Swerve.html
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Mar 06 20:45:08 CST 2023 -->
<!-- Generated by javadoc (17) on Wed Mar 08 23:33:54 CST 2023 -->
<title>ADIS16470Swerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-03-06">
<meta name="dc.created" content="2023-03-08">
<meta name="description" content="declaration: package: swervelib.imu, class: ADIS16470Swerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -98,10 +98,10 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color">
<div class="block"><code>ADIS16470_IMU</code> device to read the current headings from.</div>
</div>
<div class="col-first odd-row-color"><code>private double</code></div>
<div class="col-second odd-row-color"><code><a href="#yawOffset" class="member-name-link">yawOffset</a></code></div>
<div class="col-first odd-row-color"><code>private edu.wpi.first.math.geometry.Rotation3d</code></div>
<div class="col-second odd-row-color"><code><a href="#offset" class="member-name-link">offset</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Offset for the ADIS16470 yaw reading.</div>
<div class="block">Offset for the ADIS16470.</div>
</div>
</div>
</section>
@@ -153,19 +153,19 @@ loadScripts(document, 'script');</script>
<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-tab4"><code>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-tab4"><code><a href="#getRotation3d()" class="member-name-link">getRotation3d</a>()</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><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-tab4">
<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-tab4"><code>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-tab4"><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-tab4">
<div class="block">Fetch the <code>Rotation3d</code> from the IMU.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getYawPitchRoll(double%5B%5D)" class="member-name-link">getYawPitchRoll</a><wbr>(double[]&nbsp;yprArray)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Fetch the yaw/pitch/roll from the IMU.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setYaw(double)" class="member-name-link">setYaw</a><wbr>(double&nbsp;yaw)</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><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-tab4">
<div class="block">Set the yaw in degrees.</div>
<div class="block">Set the gyro offset.</div>
</div>
</div>
</div>
@@ -192,10 +192,10 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="yawOffset">
<h3>yawOffset</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">yawOffset</span></div>
<div class="block">Offset for the ADIS16470 yaw reading.</div>
<section class="detail" id="offset">
<h3>offset</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Rotation3d</span>&nbsp;<span class="element-name">offset</span></div>
<div class="block">Offset for the ADIS16470.</div>
</section>
</li>
</ul>
@@ -244,28 +244,28 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="setYaw(double)">
<h3>setYaw</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setYaw</span><wbr><span class="parameters">(double&nbsp;yaw)</span></div>
<div class="block">Set the yaw in degrees.</div>
<section class="detail" id="setOffset(edu.wpi.first.math.geometry.Rotation3d)">
<h3>setOffset</h3>
<div class="member-signature"><span class="modifiers">public</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>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#setYaw(double)">setYaw</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dd><code><a href="SwerveIMU.html#setOffset(edu.wpi.first.math.geometry.Rotation3d)">setOffset</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Parameters:</dt>
<dd><code>yaw</code> - Yaw angle in degrees.</dd>
<dd><code>offset</code> - gyro offset as a <code>Rotation3d</code>.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getYawPitchRoll(double[])">
<h3>getYawPitchRoll</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">getYawPitchRoll</span><wbr><span class="parameters">(double[]&nbsp;yprArray)</span></div>
<div class="block">Fetch the yaw/pitch/roll from the IMU.</div>
<section class="detail" id="getRawRotation3d()">
<h3>getRawRotation3d</h3>
<div class="member-signature"><span class="modifiers">public</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>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#getYawPitchRoll(double%5B%5D)">getYawPitchRoll</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Parameters:</dt>
<dd><code>yprArray</code> - Array which will be filled with {yaw, pitch, roll} in degrees.</dd>
<dd><code><a href="SwerveIMU.html#getRawRotation3d()">getRawRotation3d</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Returns:</dt>
<dd><code>Rotation3d</code> from the IMU.</dd>
</dl>
</section>
</li>

60
docs/swervelib/imu/ADXRS450Swerve.html
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Mar 06 20:45:08 CST 2023 -->
<!-- Generated by javadoc (17) on Wed Mar 08 23:33:54 CST 2023 -->
<title>ADXRS450Swerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-03-06">
<meta name="dc.created" content="2023-03-08">
<meta name="description" content="declaration: package: swervelib.imu, class: ADXRS450Swerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -98,10 +98,10 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color">
<div class="block"><code>ADXRS450_Gyro</code> device to read the current headings from.</div>
</div>
<div class="col-first odd-row-color"><code>private double</code></div>
<div class="col-second odd-row-color"><code><a href="#yawOffset" class="member-name-link">yawOffset</a></code></div>
<div class="col-first odd-row-color"><code>private edu.wpi.first.math.geometry.Rotation3d</code></div>
<div class="col-second odd-row-color"><code><a href="#offset" class="member-name-link">offset</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Offset for the ADXRS450 yaw reading.</div>
<div class="block">Offset for the ADXRS450.</div>
</div>
</div>
</section>
@@ -153,19 +153,19 @@ loadScripts(document, 'script');</script>
<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-tab4"><code>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-tab4"><code><a href="#getRotation3d()" class="member-name-link">getRotation3d</a>()</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><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-tab4">
<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-tab4"><code>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-tab4"><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-tab4">
<div class="block">Fetch the <code>Rotation3d</code> from the IMU.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getYawPitchRoll(double%5B%5D)" class="member-name-link">getYawPitchRoll</a><wbr>(double[]&nbsp;yprArray)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Fetch the yaw/pitch/roll from the IMU.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setYaw(double)" class="member-name-link">setYaw</a><wbr>(double&nbsp;yaw)</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><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-tab4">
<div class="block">Set the yaw in degrees.</div>
<div class="block">Set the gyro offset.</div>
</div>
</div>
</div>
@@ -192,10 +192,10 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="yawOffset">
<h3>yawOffset</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">yawOffset</span></div>
<div class="block">Offset for the ADXRS450 yaw reading.</div>
<section class="detail" id="offset">
<h3>offset</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Rotation3d</span>&nbsp;<span class="element-name">offset</span></div>
<div class="block">Offset for the ADXRS450.</div>
</section>
</li>
</ul>
@@ -244,28 +244,28 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="setYaw(double)">
<h3>setYaw</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setYaw</span><wbr><span class="parameters">(double&nbsp;yaw)</span></div>
<div class="block">Set the yaw in degrees.</div>
<section class="detail" id="setOffset(edu.wpi.first.math.geometry.Rotation3d)">
<h3>setOffset</h3>
<div class="member-signature"><span class="modifiers">public</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>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#setYaw(double)">setYaw</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dd><code><a href="SwerveIMU.html#setOffset(edu.wpi.first.math.geometry.Rotation3d)">setOffset</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Parameters:</dt>
<dd><code>yaw</code> - Yaw angle in degrees.</dd>
<dd><code>offset</code> - gyro offset as a <code>Rotation3d</code>.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getYawPitchRoll(double[])">
<h3>getYawPitchRoll</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">getYawPitchRoll</span><wbr><span class="parameters">(double[]&nbsp;yprArray)</span></div>
<div class="block">Fetch the yaw/pitch/roll from the IMU.</div>
<section class="detail" id="getRawRotation3d()">
<h3>getRawRotation3d</h3>
<div class="member-signature"><span class="modifiers">public</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>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#getYawPitchRoll(double%5B%5D)">getYawPitchRoll</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Parameters:</dt>
<dd><code>yprArray</code> - Array which will be filled with {yaw, pitch, roll} in degrees.</dd>
<dd><code><a href="SwerveIMU.html#getRawRotation3d()">getRawRotation3d</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Returns:</dt>
<dd><code>Rotation3d</code> from the IMU.</dd>
</dl>
</section>
</li>

60
docs/swervelib/imu/AnalogGyroSwerve.html
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Mar 06 20:45:08 CST 2023 -->
<!-- Generated by javadoc (17) on Wed Mar 08 23:33:54 CST 2023 -->
<title>AnalogGyroSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-03-06">
<meta name="dc.created" content="2023-03-08">
<meta name="description" content="declaration: package: swervelib.imu, class: AnalogGyroSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -98,10 +98,10 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color">
<div class="block">Gyroscope object.</div>
</div>
<div class="col-first odd-row-color"><code>private double</code></div>
<div class="col-second odd-row-color"><code><a href="#yawOffset" class="member-name-link">yawOffset</a></code></div>
<div class="col-first odd-row-color"><code>private edu.wpi.first.math.geometry.Rotation3d</code></div>
<div class="col-second odd-row-color"><code><a href="#offset" class="member-name-link">offset</a></code></div>
<div class="col-last odd-row-color">
<div class="block">The yaw offset for the gyroscope.</div>
<div class="block">Offset for the analog gyro.</div>
</div>
</div>
</section>
@@ -153,19 +153,19 @@ loadScripts(document, 'script');</script>
<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-tab4"><code>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-tab4"><code><a href="#getRotation3d()" class="member-name-link">getRotation3d</a>()</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><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-tab4">
<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-tab4"><code>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-tab4"><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-tab4">
<div class="block">Fetch the <code>Rotation3d</code> from the IMU.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getYawPitchRoll(double%5B%5D)" class="member-name-link">getYawPitchRoll</a><wbr>(double[]&nbsp;yprArray)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Fetch the yaw/pitch/roll from the IMU.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setYaw(double)" class="member-name-link">setYaw</a><wbr>(double&nbsp;yaw)</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><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-tab4">
<div class="block">Set the yaw in degrees.</div>
<div class="block">Set the gyro offset.</div>
</div>
</div>
</div>
@@ -192,10 +192,10 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="yawOffset">
<h3>yawOffset</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">yawOffset</span></div>
<div class="block">The yaw offset for the gyroscope.</div>
<section class="detail" id="offset">
<h3>offset</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Rotation3d</span>&nbsp;<span class="element-name">offset</span></div>
<div class="block">Offset for the analog gyro.</div>
</section>
</li>
</ul>
@@ -248,28 +248,28 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="setYaw(double)">
<h3>setYaw</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setYaw</span><wbr><span class="parameters">(double&nbsp;yaw)</span></div>
<div class="block">Set the yaw in degrees.</div>
<section class="detail" id="setOffset(edu.wpi.first.math.geometry.Rotation3d)">
<h3>setOffset</h3>
<div class="member-signature"><span class="modifiers">public</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>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#setYaw(double)">setYaw</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dd><code><a href="SwerveIMU.html#setOffset(edu.wpi.first.math.geometry.Rotation3d)">setOffset</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Parameters:</dt>
<dd><code>yaw</code> - Yaw angle in degrees.</dd>
<dd><code>offset</code> - gyro offset as a <code>Rotation3d</code>.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getYawPitchRoll(double[])">
<h3>getYawPitchRoll</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">getYawPitchRoll</span><wbr><span class="parameters">(double[]&nbsp;yprArray)</span></div>
<div class="block">Fetch the yaw/pitch/roll from the IMU.</div>
<section class="detail" id="getRawRotation3d()">
<h3>getRawRotation3d</h3>
<div class="member-signature"><span class="modifiers">public</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>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#getYawPitchRoll(double%5B%5D)">getYawPitchRoll</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Parameters:</dt>
<dd><code>yprArray</code> - Array which will be filled with {yaw, pitch, roll} in degrees.</dd>
<dd><code><a href="SwerveIMU.html#getRawRotation3d()">getRawRotation3d</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Returns:</dt>
<dd><code>Rotation3d</code> from the IMU.</dd>
</dl>
</section>
</li>

60
docs/swervelib/imu/NavXSwerve.html
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Mar 06 20:45:08 CST 2023 -->
<!-- Generated by javadoc (17) on Wed Mar 08 23:33:54 CST 2023 -->
<title>NavXSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-03-06">
<meta name="dc.created" content="2023-03-08">
<meta name="description" content="declaration: package: swervelib.imu, class: NavXSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -98,10 +98,10 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color">
<div class="block">NavX IMU.</div>
</div>
<div class="col-first odd-row-color"><code>private double</code></div>
<div class="col-second odd-row-color"><code><a href="#yawOffset" class="member-name-link">yawOffset</a></code></div>
<div class="col-first odd-row-color"><code>private edu.wpi.first.math.geometry.Rotation3d</code></div>
<div class="col-second odd-row-color"><code><a href="#offset" class="member-name-link">offset</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Offset for the NavX yaw reading.</div>
<div class="block">Offset for the NavX.</div>
</div>
</div>
</section>
@@ -153,19 +153,19 @@ loadScripts(document, 'script');</script>
<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-tab4"><code>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-tab4"><code><a href="#getRotation3d()" class="member-name-link">getRotation3d</a>()</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><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-tab4">
<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-tab4"><code>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-tab4"><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-tab4">
<div class="block">Fetch the <code>Rotation3d</code> from the IMU.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getYawPitchRoll(double%5B%5D)" class="member-name-link">getYawPitchRoll</a><wbr>(double[]&nbsp;yprArray)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Fetch the yaw/pitch/roll from the IMU.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setYaw(double)" class="member-name-link">setYaw</a><wbr>(double&nbsp;yaw)</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><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-tab4">
<div class="block">Set the yaw in degrees.</div>
<div class="block">Set the gyro offset.</div>
</div>
</div>
</div>
@@ -192,10 +192,10 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="yawOffset">
<h3>yawOffset</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">yawOffset</span></div>
<div class="block">Offset for the NavX yaw reading.</div>
<section class="detail" id="offset">
<h3>offset</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Rotation3d</span>&nbsp;<span class="element-name">offset</span></div>
<div class="block">Offset for the NavX.</div>
</section>
</li>
</ul>
@@ -248,28 +248,28 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="setYaw(double)">
<h3>setYaw</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setYaw</span><wbr><span class="parameters">(double&nbsp;yaw)</span></div>
<div class="block">Set the yaw in degrees.</div>
<section class="detail" id="setOffset(edu.wpi.first.math.geometry.Rotation3d)">
<h3>setOffset</h3>
<div class="member-signature"><span class="modifiers">public</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>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#setYaw(double)">setYaw</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dd><code><a href="SwerveIMU.html#setOffset(edu.wpi.first.math.geometry.Rotation3d)">setOffset</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Parameters:</dt>
<dd><code>yaw</code> - Yaw angle in degrees.</dd>
<dd><code>offset</code> - gyro offset as a <code>Rotation3d</code>.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getYawPitchRoll(double[])">
<h3>getYawPitchRoll</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">getYawPitchRoll</span><wbr><span class="parameters">(double[]&nbsp;yprArray)</span></div>
<div class="block">Fetch the yaw/pitch/roll from the IMU.</div>
<section class="detail" id="getRawRotation3d()">
<h3>getRawRotation3d</h3>
<div class="member-signature"><span class="modifiers">public</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>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#getYawPitchRoll(double%5B%5D)">getYawPitchRoll</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Parameters:</dt>
<dd><code>yprArray</code> - Array which will be filled with {yaw, pitch, roll} in degrees.</dd>
<dd><code><a href="SwerveIMU.html#getRawRotation3d()">getRawRotation3d</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Returns:</dt>
<dd><code>Rotation3d</code> from the IMU.</dd>
</dl>
</section>
</li>

58
docs/swervelib/imu/Pigeon2Swerve.html
View File

@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Mar 06 20:45:08 CST 2023 -->
<!-- Generated by javadoc (17) on Wed Mar 08 23:33:54 CST 2023 -->
<title>Pigeon2Swerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-03-06">
<meta name="dc.created" content="2023-03-08">
<meta name="description" content="declaration: package: swervelib.imu, class: Pigeon2Swerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -98,6 +98,11 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color">
<div class="block">Pigeon2 IMU device.</div>
</div>
<div class="col-first odd-row-color"><code>private edu.wpi.first.math.geometry.Rotation3d</code></div>
<div class="col-second odd-row-color"><code><a href="#offset" class="member-name-link">offset</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Offset for the Pigeon 2.</div>
</div>
</div>
</section>
</li>
@@ -153,19 +158,19 @@ loadScripts(document, 'script');</script>
<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-tab4"><code>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-tab4"><code><a href="#getRotation3d()" class="member-name-link">getRotation3d</a>()</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><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-tab4">
<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-tab4"><code>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-tab4"><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-tab4">
<div class="block">Fetch the <code>Rotation3d</code> from the IMU.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getYawPitchRoll(double%5B%5D)" class="member-name-link">getYawPitchRoll</a><wbr>(double[]&nbsp;yprArray)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Fetch the yaw/pitch/roll from the IMU, inverts them all if SwerveIMU is inverted.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setYaw(double)" class="member-name-link">setYaw</a><wbr>(double&nbsp;yaw)</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><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-tab4">
<div class="block">Set the yaw in degrees.</div>
<div class="block">Set the gyro offset.</div>
</div>
</div>
</div>
@@ -191,6 +196,13 @@ loadScripts(document, 'script');</script>
<div class="block">Pigeon2 IMU device.</div>
</section>
</li>
<li>
<section class="detail" id="offset">
<h3>offset</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Rotation3d</span>&nbsp;<span class="element-name">offset</span></div>
<div class="block">Offset for the Pigeon 2.</div>
</section>
</li>
</ul>
</section>
</li>
@@ -254,28 +266,28 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="setYaw(double)">
<h3>setYaw</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setYaw</span><wbr><span class="parameters">(double&nbsp;yaw)</span></div>
<div class="block">Set the yaw in degrees.</div>
<section class="detail" id="setOffset(edu.wpi.first.math.geometry.Rotation3d)">
<h3>setOffset</h3>
<div class="member-signature"><span class="modifiers">public</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>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#setYaw(double)">setYaw</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dd><code><a href="SwerveIMU.html#setOffset(edu.wpi.first.math.geometry.Rotation3d)">setOffset</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Parameters:</dt>
<dd><code>yaw</code> - Angle in degrees.</dd>
<dd><code>offset</code> - gyro offset as a <code>Rotation3d</code>.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getYawPitchRoll(double[])">
<h3>getYawPitchRoll</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">getYawPitchRoll</span><wbr><span class="parameters">(double[]&nbsp;yprArray)</span></div>
<div class="block">Fetch the yaw/pitch/roll from the IMU, inverts them all if SwerveIMU is inverted.</div>
<section class="detail" id="getRawRotation3d()">
<h3>getRawRotation3d</h3>
<div class="member-signature"><span class="modifiers">public</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>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#getYawPitchRoll(double%5B%5D)">getYawPitchRoll</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Parameters:</dt>
<dd><code>yprArray</code> - Array which will be filled with {yaw, pitch, roll} in degrees.</dd>
<dd><code><a href="SwerveIMU.html#getRawRotation3d()">getRawRotation3d</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Returns:</dt>
<dd><code>Rotation3d</code> from the IMU.</dd>
</dl>
</section>
</li>

58
docs/swervelib/imu/PigeonSwerve.html
View File

@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Mar 06 20:45:08 CST 2023 -->
<!-- Generated by javadoc (17) on Wed Mar 08 23:33:54 CST 2023 -->
<title>PigeonSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-03-06">
<meta name="dc.created" content="2023-03-08">
<meta name="description" content="declaration: package: swervelib.imu, class: PigeonSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -98,6 +98,11 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color">
<div class="block">Pigeon v1 IMU device.</div>
</div>
<div class="col-first odd-row-color"><code>private edu.wpi.first.math.geometry.Rotation3d</code></div>
<div class="col-second odd-row-color"><code><a href="#offset" class="member-name-link">offset</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Offset for the Pigeon.</div>
</div>
</div>
</section>
</li>
@@ -148,19 +153,19 @@ loadScripts(document, 'script');</script>
<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-tab4"><code>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-tab4"><code><a href="#getRotation3d()" class="member-name-link">getRotation3d</a>()</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><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-tab4">
<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-tab4"><code>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-tab4"><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-tab4">
<div class="block">Fetch the <code>Rotation3d</code> from the IMU.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getYawPitchRoll(double%5B%5D)" class="member-name-link">getYawPitchRoll</a><wbr>(double[]&nbsp;yprArray)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Fetch the yaw/pitch/roll from the IMU, inverts them all if SwerveIMU is inverted.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setYaw(double)" class="member-name-link">setYaw</a><wbr>(double&nbsp;yaw)</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><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-tab4">
<div class="block">Set the yaw in degrees.</div>
<div class="block">Set the gyro offset.</div>
</div>
</div>
</div>
@@ -186,6 +191,13 @@ loadScripts(document, 'script');</script>
<div class="block">Pigeon v1 IMU device.</div>
</section>
</li>
<li>
<section class="detail" id="offset">
<h3>offset</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Rotation3d</span>&nbsp;<span class="element-name">offset</span></div>
<div class="block">Offset for the Pigeon.</div>
</section>
</li>
</ul>
</section>
</li>
@@ -236,28 +248,28 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="setYaw(double)">
<h3>setYaw</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setYaw</span><wbr><span class="parameters">(double&nbsp;yaw)</span></div>
<div class="block">Set the yaw in degrees.</div>
<section class="detail" id="setOffset(edu.wpi.first.math.geometry.Rotation3d)">
<h3>setOffset</h3>
<div class="member-signature"><span class="modifiers">public</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>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#setYaw(double)">setYaw</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dd><code><a href="SwerveIMU.html#setOffset(edu.wpi.first.math.geometry.Rotation3d)">setOffset</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Parameters:</dt>
<dd><code>yaw</code> - Angle in degrees.</dd>
<dd><code>offset</code> - gyro offset as a <code>Rotation3d</code>.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getYawPitchRoll(double[])">
<h3>getYawPitchRoll</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">getYawPitchRoll</span><wbr><span class="parameters">(double[]&nbsp;yprArray)</span></div>
<div class="block">Fetch the yaw/pitch/roll from the IMU, inverts them all if SwerveIMU is inverted.</div>
<section class="detail" id="getRawRotation3d()">
<h3>getRawRotation3d</h3>
<div class="member-signature"><span class="modifiers">public</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>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#getYawPitchRoll(double%5B%5D)">getYawPitchRoll</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Parameters:</dt>
<dd><code>yprArray</code> - Array which will be filled with {yaw, pitch, roll} in degrees.</dd>
<dd><code><a href="SwerveIMU.html#getRawRotation3d()">getRawRotation3d</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Returns:</dt>
<dd><code>Rotation3d</code> from the IMU.</dd>
</dl>
</section>
</li>

42
docs/swervelib/imu/SwerveIMU.html
View File

@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Mar 06 20:45:08 CST 2023 -->
<!-- Generated by javadoc (17) on Wed Mar 08 23:33:54 CST 2023 -->
<title>SwerveIMU</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-03-06">
<meta name="dc.created" content="2023-03-08">
<meta name="description" content="declaration: package: swervelib.imu, class: SwerveIMU">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -131,19 +131,19 @@ loadScripts(document, 'script');</script>
<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="#getRotation3d()" class="member-name-link">getRotation3d</a>()</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 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="#getYawPitchRoll(double%5B%5D)" class="member-name-link">getYawPitchRoll</a><wbr>(double[]&nbsp;yprArray)</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 yaw/pitch/roll 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="#setYaw(double)" class="member-name-link">setYaw</a><wbr>(double&nbsp;yaw)</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 yaw in degrees.</div>
<div class="block">Set the gyro offset.</div>
</div>
</div>
</div>
@@ -191,24 +191,24 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="setYaw(double)">
<h3>setYaw</h3>
<div class="member-signature"><span class="modifiers">public abstract</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setYaw</span><wbr><span class="parameters">(double&nbsp;yaw)</span></div>
<div class="block">Set the yaw in degrees.</div>
<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>yaw</code> - Yaw angle in degrees.</dd>
<dd><code>offset</code> - gyro offset as a <code>Rotation3d</code>.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getYawPitchRoll(double[])">
<h3>getYawPitchRoll</h3>
<div class="member-signature"><span class="modifiers">public abstract</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">getYawPitchRoll</span><wbr><span class="parameters">(double[]&nbsp;yprArray)</span></div>
<div class="block">Fetch the yaw/pitch/roll from the IMU.</div>
<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>Parameters:</dt>
<dd><code>yprArray</code> - Array which will be filled with {yaw, pitch, roll} in degrees.</dd>
<dt>Returns:</dt>
<dd><code>Rotation3d</code> from the IMU.</dd>
</dl>
</section>
</li>

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<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-03-06">
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