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Updated IMU

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This commit is contained in:
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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12
swervelib/imu/SwerveIMU.java
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@@ -21,18 +21,18 @@ public abstract class SwerveIMU
public abstract void clearStickyFaults();
/**
* Set the yaw in degrees.
* Set the gyro offset.
*
* @param yaw Yaw angle in degrees.
* @param offset gyro offset as a {@link Rotation3d}.
*/
public abstract void setYaw(double yaw);
public abstract void setOffset(Rotation3d offset);
/**
* Fetch the yaw/pitch/roll from the IMU.
* Fetch the {@link Rotation3d} from the IMU without any zeroing. Robot relative.
*
* @param yprArray Array which will be filled with {yaw, pitch, roll} in degrees.
* @return {@link Rotation3d} from the IMU.
*/
public abstract void getYawPitchRoll(double[] yprArray);
public abstract Rotation3d getRawRotation3d();
/**
* Fetch the {@link Rotation3d} from the IMU. Robot relative.