Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-01 02:41:48 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpilib] Add GetRate() to ADIS classes (#3864)

Browse Source 
The angular rate is treated somewhat like an angle during calibration,
but the datasheet says it's angular rate. The variables were renamed to
make this clearer.
This commit is contained in:
Tyler Veness
2022-01-04 22:26:23 -08:00
committed by GitHub
parent 05d66f862d
commit 22c4da152e
12 changed files with 516 additions and 200 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
wpilibc/src/main/native/include/frc/ADIS16470_IMU.h
View File

@@ -127,6 +127,11 @@ class ADIS16470_IMU : public nt::NTSendable,
*/
units::degree_t GetAngle() const;
/**
* Returns the yaw axis angular rate in degrees per second (CCW positive).
*/
units::degrees_per_second_t GetRate() const;
/**
* Returns the acceleration in the X axis.
*/
@@ -342,7 +347,12 @@ class ADIS16470_IMU : public nt::NTSendable,
double m_integ_angle = 0.0;
// Instant raw outputs
double m_gyro_x, m_gyro_y, m_gyro_z, m_accel_x, m_accel_y, m_accel_z = 0.0;
double m_gyro_rate_x = 0.0;
double m_gyro_rate_y = 0.0;
double m_gyro_rate_z = 0.0;
double m_accel_x = 0.0;
double m_accel_y = 0.0;
double m_accel_z = 0.0;
// Complementary filter variables
double m_tau = 1.0;
@@ -375,6 +385,9 @@ class ADIS16470_IMU : public nt::NTSendable,
hal::SimDouble m_simGyroAngleX;
hal::SimDouble m_simGyroAngleY;
hal::SimDouble m_simGyroAngleZ;
hal::SimDouble m_simGyroRateX;
hal::SimDouble m_simGyroRateY;
hal::SimDouble m_simGyroRateZ;
hal::SimDouble m_simAccelX;
hal::SimDouble m_simAccelY;
hal::SimDouble m_simAccelZ;