Package swervelib.imu

Class Pigeon2Swerve

java.lang.Object
swervelib.imu.SwerveIMU
swervelib.imu.Pigeon2Swerve
public class Pigeon2Swerve extends SwerveIMU
SwerveIMU interface for the Pigeon2

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    (package private) com.ctre.phoenix.sensors.WPI_Pigeon2
    imu
    Pigeon2 IMU device.

  • Constructor Summary

    Constructors
    Constructor
    Description
    Pigeon2Swerve(int canid)
    Generate the SwerveIMU for pigeon.
    Pigeon2Swerve(int canid, String canbus)
    Generate the SwerveIMU for pigeon.

  • 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, inverts them all if SwerveIMU is inverted.
    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

    • imu

      com.ctre.phoenix.sensors.WPI_Pigeon2 imu
      Pigeon2 IMU device.

  • Constructor Details

    • Pigeon2Swerve

      public Pigeon2Swerve(int canid, String canbus)
      Generate the SwerveIMU for pigeon.
      Parameters:
      canid - CAN ID for the pigeon
      canbus - CAN Bus name the pigeon resides on.

    • Pigeon2Swerve

      public Pigeon2Swerve(int canid)
      Generate the SwerveIMU for pigeon.
      Parameters:
      canid - CAN ID for the pigeon

  • 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 - Angle in degrees.

    • getYawPitchRoll

      public void getYawPitchRoll(double[] yprArray)
      Fetch the yaw/pitch/roll from the IMU, inverts them all if SwerveIMU is inverted.
      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.