Package frc.robot.subsystems.swervedrive2.swervelib.imu

Class Pigeon2Swerve

java.lang.Object

frc.robot.subsystems.swervedrive2.swervelib.imu.SwerveIMU

frc.robot.subsystems.swervedrive2.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.
Object	getIMU()	Get the instantiated IMU object.
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 Detail

imu

com.ctre.phoenix.sensors.WPI_Pigeon2 imu

Pigeon2 IMU device.

Constructor Detail

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 Detail

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.

getIMU

public Object getIMU()

Get the instantiated IMU object.

Specified by:

getIMU in class SwerveIMU

Returns:

IMU object.