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YAGSL/docs/swervelib/imu/ADIS16470Swerve.html
thenetworkgrinch ecb7af89f5 Fixed falcon and removed 'fscalar' as a PIDF option
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<title>ADIS16470Swerve</title>
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<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib.imu</a></div>
<h1 title="Class ADIS16470Swerve" class="title">Class ADIS16470Swerve</h1>
</div>
<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>
<div class="inheritance"><a href="SwerveIMU.html" title="class in swervelib.imu">swervelib.imu.SwerveIMU</a>
<div class="inheritance">swervelib.imu.ADIS16470Swerve</div>
</div>
</div>
<section class="class-description" id="class-description">
<hr>
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">ADIS16470Swerve</span>
<span class="extends-implements">extends <a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></span></div>
<div class="block">IMU Swerve class for the <code>ADIS16470_IMU</code> device.</div>
</section>
<section class="summary">
<ul class="summary-list">
<!-- =========== FIELD SUMMARY =========== -->
<li>
<section class="field-summary" id="field-summary">
<h2>Field Summary</h2>
<div class="caption"><span>Fields</span></div>
<div class="summary-table three-column-summary">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Field</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code>private final edu.wpi.first.wpilibj.ADIS16470_IMU</code></div>
<div class="col-second even-row-color"><code><a href="#imu" class="member-name-link">imu</a></code></div>
<div class="col-last even-row-color">
<div class="block"><code>ADIS16470_IMU</code> device to read the current headings from.</div>
</div>
<div class="col-first odd-row-color"><code>private double</code></div>
<div class="col-second odd-row-color"><code><a href="#yawOffset" class="member-name-link">yawOffset</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Offset for the ADIS16470 yaw reading.</div>
</div>
</div>
</section>
</li>
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
<li>
<section class="constructor-summary" id="constructor-summary">
<h2>Constructor Summary</h2>
<div class="caption"><span>Constructors</span></div>
<div class="summary-table two-column-summary">
<div class="table-header col-first">Constructor</div>
<div class="table-header col-last">Description</div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E()" class="member-name-link">ADIS16470Swerve</a>()</code></div>
<div class="col-last even-row-color">
<div class="block">Construct the ADIS16470 imu and reset default configurations.</div>
</div>
</div>
</section>
</li>
<!-- ========== METHOD SUMMARY =========== -->
<li>
<section class="method-summary" id="method-summary">
<h2>Method Summary</h2>
<div id="method-summary-table">
<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-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>
<div id="method-summary-table.tabpanel" role="tabpanel">
<div class="summary-table three-column-summary" aria-labelledby="method-summary-table-tab0">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Method</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#clearStickyFaults()" class="member-name-link">clearStickyFaults</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Clear sticky faults on IMU.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#factoryDefault()" class="member-name-link">factoryDefault</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Reset IMU to factory default.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><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></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getIMU()" class="member-name-link">getIMU</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the instantiated IMU object.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getYawPitchRoll(double%5B%5D)" class="member-name-link">getYawPitchRoll</a><wbr>(double[]&nbsp;yprArray)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Fetch the yaw/pitch/roll from the IMU.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setYaw(double)" class="member-name-link">setYaw</a><wbr>(double&nbsp;yaw)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the yaw in degrees.</div>
</div>
</div>
</div>
</div>
<div class="inherited-list">
<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;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>
<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>
</section>
</li>
</ul>
</section>
<section class="details">
<ul class="details-list">
<!-- ============ FIELD DETAIL =========== -->
<li>
<section class="field-details" id="field-detail">
<h2>Field Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="imu">
<h3>imu</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">edu.wpi.first.wpilibj.ADIS16470_IMU</span>&nbsp;<span class="element-name">imu</span></div>
<div class="block"><code>ADIS16470_IMU</code> device to read the current headings from.</div>
</section>
</li>
<li>
<section class="detail" id="yawOffset">
<h3>yawOffset</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">yawOffset</span></div>
<div class="block">Offset for the ADIS16470 yaw reading.</div>
</section>
</li>
</ul>
</section>
</li>
<!-- ========= CONSTRUCTOR DETAIL ======== -->
<li>
<section class="constructor-details" id="constructor-detail">
<h2>Constructor Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="&lt;init&gt;()">
<h3>ADIS16470Swerve</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">ADIS16470Swerve</span>()</div>
<div class="block">Construct the ADIS16470 imu and reset default configurations. Publish the gyro to the SmartDashboard.</div>
</section>
</li>
</ul>
</section>
</li>
<!-- ============ METHOD DETAIL ========== -->
<li>
<section class="method-details" id="method-detail">
<h2>Method Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="factoryDefault()">
<h3>factoryDefault</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">factoryDefault</span>()</div>
<div class="block">Reset IMU to factory default.</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#factoryDefault()">factoryDefault</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="clearStickyFaults()">
<h3>clearStickyFaults</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">clearStickyFaults</span>()</div>
<div class="block">Clear sticky faults on IMU.</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#clearStickyFaults()">clearStickyFaults</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="setYaw(double)">
<h3>setYaw</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setYaw</span><wbr><span class="parameters">(double&nbsp;yaw)</span></div>
<div class="block">Set the yaw in degrees.</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#setYaw(double)">setYaw</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Parameters:</dt>
<dd><code>yaw</code> - Yaw angle in degrees.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getYawPitchRoll(double[])">
<h3>getYawPitchRoll</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">getYawPitchRoll</span><wbr><span class="parameters">(double[]&nbsp;yprArray)</span></div>
<div class="block">Fetch the yaw/pitch/roll from the IMU.</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#getYawPitchRoll(double%5B%5D)">getYawPitchRoll</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Parameters:</dt>
<dd><code>yprArray</code> - Array which will be filled with {yaw, pitch, roll} in degrees.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getIMU()">
<h3>getIMU</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><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>&nbsp;<span class="element-name">getIMU</span>()</div>
<div class="block">Get the instantiated IMU object.</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#getIMU()">getIMU</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Returns:</dt>
<dd>IMU object.</dd>
</dl>
</section>
</li>
</ul>
</section>
</li>
</ul>
</section>
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