package frc.robot.subsystems.swervedrive2.swervelib.imu;

/**
 * Swerve IMU abstraction to define a standard interface with a swerve drive.
 */
public abstract class SwerveIMU
{

  /**
   * Reset IMU to factory default.
   */
  public abstract void factoryDefault();

  /**
   * Clear sticky faults on IMU.
   */
  public abstract void clearStickyFaults();

  /**
   * Set the yaw in degrees.
   *
   * @param yaw Yaw angle in degrees.
   */
  public abstract void setYaw(double yaw);

  /**
   * Fetch the yaw/pitch/roll from the IMU.
   *
   * @param yprArray Array which will be filled with {yaw, pitch, roll} in degrees.
   */
  public abstract void getYawPitchRoll(double[] yprArray);

  /**
   * Get the instantiated IMU object.
   *
   * @return IMU object.
   */
  public abstract Object getIMU();
}