Package swervelib.imu

Class NavXSwerve

java.lang.Object
swervelib.imu.SwerveIMU
swervelib.imu.NavXSwerve
public class NavXSwerve extends SwerveIMU
Communicates with the NavX as the IMU.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    private com.kauailabs.navx.frc.AHRS
    gyro
    NavX IMU.
    private double
    yawOffset
    Offset for the NavX yaw reading.

  • Constructor Summary

    Constructors
    Constructor
    Description
    NavXSwerve(edu.wpi.first.wpilibj.SerialPort.Port port)
    Constructor for the NavX swerve.

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    clearStickyFaults()
    Clear sticky faults on IMU.
    void
    factoryDefault()
    Reset IMU to factory default.
    Optional<edu.wpi.first.math.geometry.Translation3d>
    getAccel()
    Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
    Object
    getIMU()
    Get the instantiated IMU object.
    edu.wpi.first.math.geometry.Rotation3d
    getRotation3d()
    Fetch the Rotation3d from the IMU.
    void
    getYawPitchRoll(double[] yprArray)
    Fetch the yaw/pitch/roll from the IMU.
    void
    setYaw(double yaw)
    Set the yaw in degrees.

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Field Details

    • gyro

      private com.kauailabs.navx.frc.AHRS gyro
      NavX IMU.

    • yawOffset

      private double yawOffset
      Offset for the NavX yaw reading.

  • Constructor Details

    • NavXSwerve

      public NavXSwerve(edu.wpi.first.wpilibj.SerialPort.Port port)
      Constructor for the NavX swerve.
      Parameters:
      port - Serial Port to connect to.

  • Method Details

    • factoryDefault

      public void factoryDefault()
      Reset IMU to factory default.
      Specified by:
      factoryDefault in class SwerveIMU

    • clearStickyFaults

      public void clearStickyFaults()
      Clear sticky faults on IMU.
      Specified by:
      clearStickyFaults in class SwerveIMU

    • setYaw

      public void setYaw(double yaw)
      Set the yaw in degrees.
      Specified by:
      setYaw in class SwerveIMU
      Parameters:
      yaw - Yaw angle in degrees.

    • getYawPitchRoll

      public void getYawPitchRoll(double[] yprArray)
      Fetch the yaw/pitch/roll from the IMU.
      Specified by:
      getYawPitchRoll in class SwerveIMU
      Parameters:
      yprArray - Array which will be filled with {yaw, pitch, roll} in degrees.

    • getRotation3d

      public edu.wpi.first.math.geometry.Rotation3d getRotation3d()
      Fetch the Rotation3d from the IMU. Robot relative.
      Specified by:
      getRotation3d in class SwerveIMU
      Returns:
      Rotation3d from the IMU.

    • getAccel

      public Optional<edu.wpi.first.math.geometry.Translation3d> getAccel()
      Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns empty.
      Specified by:
      getAccel in class SwerveIMU
      Returns:
      Translation3d of the acceleration as an Optional.

    • getIMU

      public Object getIMU()
      Get the instantiated IMU object.
      Specified by:
      getIMU in class SwerveIMU
      Returns:
      IMU object.