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<!-- ======== START OF CLASS DATA ======== -->
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<div class="sub-title"><span class="package-label-in-type">Package</span> <a href="package-summary.html">swervelib.imu</a></div>
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<h1 title="Class IMUVelocity" class="title">Class IMUVelocity</h1>
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</div>
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<div class="inheritance" title="Inheritance Tree"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">java.lang.Object</a>
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<div class="inheritance">swervelib.imu.IMUVelocity</div>
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</div>
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<section class="class-description" id="class-description">
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<hr>
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<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">IMUVelocity</span>
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<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span></div>
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<div class="block">Generic IMU Velocity filter.</div>
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</section>
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<section class="summary">
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<ul class="summary-list">
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<!-- =========== FIELD SUMMARY =========== -->
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<li>
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<section class="field-summary" id="field-summary">
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<h2>Field Summary</h2>
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<div class="caption"><span>Fields</span></div>
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<div class="summary-table three-column-summary">
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<div class="table-header col-first">Modifier and Type</div>
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<div class="table-header col-second">Field</div>
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<div class="table-header col-last">Description</div>
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<div class="col-first even-row-color"><code>private boolean</code></div>
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<div class="col-second even-row-color"><code><a href="#firstCycle" class="member-name-link">firstCycle</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Prevents calculation when no previous measurement exists.</div>
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</div>
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<div class="col-first odd-row-color"><code>private final <a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></div>
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<div class="col-second odd-row-color"><code><a href="#gyro" class="member-name-link">gyro</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">Swerve IMU.</div>
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</div>
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<div class="col-first even-row-color"><code>private final edu.wpi.first.wpilibj.Notifier</code></div>
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<div class="col-second even-row-color"><code><a href="#notifier" class="member-name-link">notifier</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">WPILib <code>Notifier</code> to keep IMU velocity up to date.</div>
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</div>
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<div class="col-first odd-row-color"><code>private edu.wpi.first.math.geometry.Rotation2d</code></div>
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<div class="col-second odd-row-color"><code><a href="#position" class="member-name-link">position</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">Tracks the previous loop's position as a Rotation2d.</div>
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</div>
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<div class="col-first even-row-color"><code>private double</code></div>
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<div class="col-second even-row-color"><code><a href="#timestamp" class="member-name-link">timestamp</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Tracks the previous loop's recorded time.</div>
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</div>
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<div class="col-first odd-row-color"><code>private double</code></div>
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<div class="col-second odd-row-color"><code><a href="#velocity" class="member-name-link">velocity</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">The calculated velocity of the robot based on averaged IMU measurements.</div>
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</div>
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<div class="col-first even-row-color"><code>private final <a href="../math/IMULinearMovingAverageFilter.html" title="class in swervelib.math">IMULinearMovingAverageFilter</a></code></div>
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<div class="col-second even-row-color"><code><a href="#velocityFilter" class="member-name-link">velocityFilter</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Linear filter used to calculate velocity, we use a custom filter class
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to prevent unwanted operations.</div>
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</div>
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</div>
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</section>
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</li>
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<!-- ======== CONSTRUCTOR SUMMARY ======== -->
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<li>
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<section class="constructor-summary" id="constructor-summary">
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<h2>Constructor Summary</h2>
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<div class="caption"><span>Constructors</span></div>
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<div class="summary-table two-column-summary">
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<div class="table-header col-first">Constructor</div>
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<div class="table-header col-last">Description</div>
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<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(swervelib.imu.SwerveIMU,double,int)" class="member-name-link">IMUVelocity</a><wbr>(<a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a> gyro,
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double periodSeconds,
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int averagingTaps)</code></div>
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<div class="col-last even-row-color">
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<div class="block">Constructor for the IMU Velocity.</div>
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</div>
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</div>
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</section>
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</li>
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<!-- ========== METHOD SUMMARY =========== -->
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<li>
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<section class="method-summary" id="method-summary">
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<h2>Method Summary</h2>
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<div id="method-summary-table">
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<div class="table-tabs" role="tablist" aria-orientation="horizontal"><button id="method-summary-table-tab0" role="tab" aria-selected="true" aria-controls="method-summary-table.tabpanel" tabindex="0" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table', 3)" class="active-table-tab">All Methods</button><button id="method-summary-table-tab1" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab1', 3)" class="table-tab">Static Methods</button><button id="method-summary-table-tab2" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab2', 3)" class="table-tab">Instance Methods</button><button id="method-summary-table-tab4" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab4', 3)" class="table-tab">Concrete Methods</button></div>
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<div id="method-summary-table.tabpanel" role="tabpanel">
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<div class="summary-table three-column-summary" aria-labelledby="method-summary-table-tab0">
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<div class="table-header col-first">Modifier and Type</div>
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<div class="table-header col-second">Method</div>
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<div class="table-header col-last">Description</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static <a href="IMUVelocity.html" title="class in swervelib.imu">IMUVelocity</a></code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#createIMUVelocity(swervelib.imu.SwerveIMU)" class="member-name-link">createIMUVelocity</a><wbr>(<a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a> gyro)</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
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<div class="block">Static factory for IMU Velocity.</div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getVelocity()" class="member-name-link">getVelocity</a>()</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Get the robot's angular velocity based on averaged meaasurements from the IMU.</div>
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</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>private void</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#update()" class="member-name-link">update</a>()</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Update the robot's rotational velocity based on the current gyro position.</div>
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</div>
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</div>
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</div>
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</div>
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<div class="inherited-list">
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<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
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<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
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</section>
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</li>
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</ul>
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</section>
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<section class="details">
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<ul class="details-list">
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<!-- ============ FIELD DETAIL =========== -->
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<li>
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<section class="field-details" id="field-detail">
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<h2>Field Details</h2>
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<ul class="member-list">
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<li>
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<section class="detail" id="gyro">
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<h3>gyro</h3>
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<div class="member-signature"><span class="modifiers">private final</span> <span class="return-type"><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></span> <span class="element-name">gyro</span></div>
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<div class="block">Swerve IMU.</div>
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</section>
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</li>
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<li>
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<section class="detail" id="velocityFilter">
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<h3>velocityFilter</h3>
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<div class="member-signature"><span class="modifiers">private final</span> <span class="return-type"><a href="../math/IMULinearMovingAverageFilter.html" title="class in swervelib.math">IMULinearMovingAverageFilter</a></span> <span class="element-name">velocityFilter</span></div>
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<div class="block">Linear filter used to calculate velocity, we use a custom filter class
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to prevent unwanted operations.</div>
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</section>
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</li>
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<li>
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<section class="detail" id="notifier">
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<h3>notifier</h3>
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<div class="member-signature"><span class="modifiers">private final</span> <span class="return-type">edu.wpi.first.wpilibj.Notifier</span> <span class="element-name">notifier</span></div>
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<div class="block">WPILib <code>Notifier</code> to keep IMU velocity up to date.</div>
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</section>
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</li>
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<li>
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<section class="detail" id="firstCycle">
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<h3>firstCycle</h3>
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<div class="member-signature"><span class="modifiers">private</span> <span class="return-type">boolean</span> <span class="element-name">firstCycle</span></div>
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<div class="block">Prevents calculation when no previous measurement exists.</div>
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</section>
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</li>
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<li>
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<section class="detail" id="timestamp">
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<h3>timestamp</h3>
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<div class="member-signature"><span class="modifiers">private</span> <span class="return-type">double</span> <span class="element-name">timestamp</span></div>
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<div class="block">Tracks the previous loop's recorded time.</div>
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</section>
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</li>
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<li>
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<section class="detail" id="position">
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<h3>position</h3>
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<div class="member-signature"><span class="modifiers">private</span> <span class="return-type">edu.wpi.first.math.geometry.Rotation2d</span> <span class="element-name">position</span></div>
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<div class="block">Tracks the previous loop's position as a Rotation2d.</div>
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</section>
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</li>
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<li>
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<section class="detail" id="velocity">
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<h3>velocity</h3>
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<div class="member-signature"><span class="modifiers">private</span> <span class="return-type">double</span> <span class="element-name">velocity</span></div>
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<div class="block">The calculated velocity of the robot based on averaged IMU measurements.</div>
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</section>
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</li>
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</ul>
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</section>
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</li>
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<!-- ========= CONSTRUCTOR DETAIL ======== -->
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<li>
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<section class="constructor-details" id="constructor-detail">
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<h2>Constructor Details</h2>
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<ul class="member-list">
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<li>
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<section class="detail" id="<init>(swervelib.imu.SwerveIMU,double,int)">
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<h3>IMUVelocity</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="element-name">IMUVelocity</span><wbr><span class="parameters">(<a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a> gyro,
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double periodSeconds,
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int averagingTaps)</span></div>
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<div class="block">Constructor for the IMU Velocity.</div>
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<dl class="notes">
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<dt>Parameters:</dt>
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<dd><code>gyro</code> - The SwerveIMU gyro.</dd>
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<dd><code>periodSeconds</code> - The rate to collect measurements from the gyro, in the form (1/number of samples per second),
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make sure this does not exceed the update rate of your IMU.</dd>
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<dd><code>averagingTaps</code> - The number of samples to used for the moving average linear filter. Higher values will not
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allow the system to update to changes in velocity, lower values may create a less smooth signal. Expected taps
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will probably be ~2-8, with the goal of having the lowest smooth value.</dd>
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</dl>
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</section>
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</li>
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</ul>
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</section>
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</li>
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<!-- ============ METHOD DETAIL ========== -->
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<li>
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<section class="method-details" id="method-detail">
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<h2>Method Details</h2>
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<ul class="member-list">
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<li>
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<section class="detail" id="createIMUVelocity(swervelib.imu.SwerveIMU)">
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<h3>createIMUVelocity</h3>
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<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type"><a href="IMUVelocity.html" title="class in swervelib.imu">IMUVelocity</a></span> <span class="element-name">createIMUVelocity</span><wbr><span class="parameters">(<a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a> gyro)</span></div>
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<div class="block">Static factory for IMU Velocity. Supported IMU rates will be as quick as possible
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but will not exceed 100hz and will use 5 taps (supported IMUs are listed in swervelib's IMU folder).
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Other gyroscopes will default to 50hz and 5 taps. For custom rates please use the IMUVelocity constructor.</div>
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<dl class="notes">
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<dt>Parameters:</dt>
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<dd><code>gyro</code> - The SwerveIMU gyro.</dd>
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<dt>Returns:</dt>
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<dd><a href="IMUVelocity.html" title="class in swervelib.imu"><code>IMUVelocity</code></a> for the given gyro with adjusted period readings for velocity.</dd>
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</dl>
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</section>
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</li>
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<li>
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<section class="detail" id="update()">
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<h3>update</h3>
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<div class="member-signature"><span class="modifiers">private</span> <span class="return-type">void</span> <span class="element-name">update</span>()</div>
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<div class="block">Update the robot's rotational velocity based on the current gyro position.</div>
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</section>
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</li>
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<li>
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<section class="detail" id="getVelocity()">
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<h3>getVelocity</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">double</span> <span class="element-name">getVelocity</span>()</div>
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<div class="block">Get the robot's angular velocity based on averaged meaasurements from the IMU.
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Velocity is multiplied by 1e+6 (1,000,000) because the timestamps are in microseconds.</div>
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<dl class="notes">
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<dt>Returns:</dt>
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<dd>robot's angular velocity in rads/s as a double.</dd>
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</dl>
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</section>
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</li>
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</ul>
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</section>
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</li>
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</ul>
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</section>
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<!-- ========= END OF CLASS DATA ========= -->
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