Package swervelib.imu

Class Pigeon2Swerve

java.lang.Object

swervelib.imu.SwerveIMU

swervelib.imu.Pigeon2Swerve

public class Pigeon2Swerve
extends SwerveIMU

SwerveIMU interface for the Pigeon2

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	getRawRotation3d()	Fetch the Rotation3d from the IMU without any zeroing.
edu.wpi.first.math.geometry.Rotation3d	getRotation3d()	Fetch the Rotation3d from the IMU.
void	setOffset(edu.wpi.first.math.geometry.Rotation3d offset)	Set the gyro offset.

Methods inherited from class java.lang.Object

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

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

setOffset

public void setOffset(edu.wpi.first.math.geometry.Rotation3d offset)

Set the gyro offset.

Specified by:

setOffset in class SwerveIMU

Parameters:

offset - gyro offset as a Rotation3d.

getRawRotation3d

public edu.wpi.first.math.geometry.Rotation3d getRawRotation3d()

Fetch the Rotation3d from the IMU without any zeroing. Robot relative.

Specified by:

getRawRotation3d in class SwerveIMU

Returns:

Rotation3d from the IMU.

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.