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[wpilib] ADIS16470: Add no-param GetAngle and GetRate (#6184)

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This helps with backwards compatibility.
This commit is contained in:
Isaac Turner
2024-01-13 03:00:42 +08:00
committed by GitHub
parent 2386e44f3a
commit d181e353a0
2 changed files with 60 additions and 4 deletions
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10
wpilibc/src/main/native/include/frc/ADIS16470_IMU.h
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@@ -215,18 +215,20 @@ class ADIS16470_IMU : public wpi::Sendable,
/**
* Returns the axis angle (CCW positive).
*
* @param axis The IMUAxis whose angle to return.
* @param axis The IMUAxis whose angle to return. Defaults to user configured
* Yaw.
* @return The axis angle (CCW positive).
*/
units::degree_t GetAngle(IMUAxis axis) const;
units::degree_t GetAngle(IMUAxis axis = IMUAxis::kYaw) const;
/**
* Returns the axis angular rate (CCW positive).
*
* @param axis The IMUAxis whose rate to return.
* @param axis The IMUAxis whose rate to return. Defaults to user configured
* Yaw.
* @return Axis angular rate (CCW positive).
*/
units::degrees_per_second_t GetRate(IMUAxis axis) const;
units::degrees_per_second_t GetRate(IMUAxis axis = IMUAxis::kYaw) const;
/**
* Returns the acceleration in the X axis.

54
wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
View File

@@ -1136,6 +1136,33 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
return 0.0;
}
/**
* Returns the Yaw axis angle in degrees (CCW positive).
*
* @return The Yaw axis angle in degrees (CCW positive).
*/
public synchronized double getAngle() {
switch (m_yaw_axis) {
case kX:
if (m_simGyroAngleX != null) {
return m_simGyroAngleX.get();
}
return m_integ_angle_x;
case kY:
if (m_simGyroAngleY != null) {
return m_simGyroAngleY.get();
}
return m_integ_angle_y;
case kZ:
if (m_simGyroAngleZ != null) {
return m_simGyroAngleZ.get();
}
return m_integ_angle_z;
default:
}
return 0.0;
}
/**
* Returns the axis angular rate in degrees per second (CCW positive).
*
@@ -1177,6 +1204,33 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
return 0.0;
}
/**
* Returns the Yaw axis angular rate in degrees per second (CCW positive).
*
* @return Yaw axis angular rate in degrees per second (CCW positive).
*/
public synchronized double getRate() {
switch (m_yaw_axis) {
case kX:
if (m_simGyroRateX != null) {
return m_simGyroRateX.get();
}
return m_gyro_rate_x;
case kY:
if (m_simGyroRateY != null) {
return m_simGyroRateY.get();
}
return m_gyro_rate_y;
case kZ:
if (m_simGyroRateZ != null) {
return m_simGyroRateZ.get();
}
return m_gyro_rate_z;
default:
}
return 0.0;
}
/**
* Returns which axis, kX, kY, or kZ, is set to the yaw axis.
*