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wpilibc/src/main/native/include/wpi/hardware/imu/OnboardIMU.hpp

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+#include <frc/geometry/Quaternion.h>
+#include <frc/geometry/Rotation2d.h>
+#include <frc/geometry/Rotation3d.h>
+
+#include <units/acceleration.h>
+#include <units/angle.h>
+#include <units/angular_velocity.h>
+
+namespace frc {
+
+/**
+ * SystemCore onboard IMU
+ */
+class OnboardIMU {
+ public:
+  /**
+   * A mount orientation of SystemCore
+   */
+  enum MountOrientation {
+    /** Flat (mounted parallel to the ground). */
+    kFlat,
+    /** Landscape (vertically mounted with long edge of SystemCore parallel to
+       the ground). */
+    kLandscape,
+    /** Portrait (vertically mounted with the short edge of SystemCore parallel
+       to the ground). */
+    kPortrait
+  };
+
+  /**
+   * Constructs a handle to the SystemCore onboard IMU.
+   * @param mountOrientation the mount orientation of SystemCore to determine
+   * yaw.
+   */
+  explicit OnboardIMU(MountOrientation mountOrientation);
+
+  /**
+   * Get the yaw value
+   * @return yaw value
+   */
+  units::radian_t GetYaw();
+
+  /**
+   * Reset the current yaw value to 0. Future reads of the yaw value will be
+   * relative to the current orientation.
+   */
+  void ResetYaw();
+
+  /**
+   * Get the yaw as a Rotation2d.
+   * @return yaw
+   */
+  Rotation2d GetRotation2d();
+
+  /**
+   * Get the 3D orientation as a Rotation3d.
+   * @return 3D orientation
+   */
+  Rotation3d GetRotation3d();
+
+  /**
+   * Get the 3D orientation as a Quaternion.
+   * @return 3D orientation
+   */
+  Quaternion GetQuaternion();
+
+  /**
+   * Get the angle about the X axis of the IMU.
+   * @return angle about the X axis
+   */
+  units::radian_t GetAngleX();
+
+  /**
+   * Get the angle about the Y axis of the IMU.
+   * @return angle about the Y axis
+   */
+  units::radian_t GetAngleY();
+
+  /**
+   * Get the angle about the Z axis of the IMU.
+   * @return angle about the Z axis
+   */
+  units::radian_t GetAngleZ();
+
+  /**
+   * Get the angular rate about the X axis of the IMU.
+   * @return angular rate about the X axis
+   */
+  units::radians_per_second_t GetGyroRateX();
+
+  /**
+   * Get the angular rate about the Y axis of the IMU.
+   * @return angular rate about the Y axis
+   */
+  units::radians_per_second_t GetGyroRateY();
+
+  /**
+   * Get the angular rate about the Z axis of the IMU.
+   * @return angular rate about the Z axis
+   */
+  units::radians_per_second_t GetGyroRateZ();
+
+  /**
+   * Get the acceleration along the X axis of the IMU.
+   * @return acceleration along the X axis
+   */
+  units::meters_per_second_squared_t GetAccelX();
+
+  /**
+   * Get the acceleration along the Z axis of the IMU.
+   * @return acceleration along the Z axis
+   */
+  units::meters_per_second_squared_t GetAccelY();
+
+  /**
+   * Get the acceleration along the Z axis of the IMU.
+   * @return acceleration along the Z axis
+   */
+  units::meters_per_second_squared_t GetAccelZ();
+
+ private:
+  units::radian_t GetYawNoOffset();
+  MountOrientation m_mountOrientation;
+  units::radian_t m_yawOffset{0};
+};
+}  // namespace frc