From d181e353a0a2c567ebd08be0590ad0c6d6106874 Mon Sep 17 00:00:00 2001
From: Isaac Turner <spacey_sooty@outlook.com>
Date: Sat, 13 Jan 2024 03:00:42 +0800
Subject: [PATCH] [wpilib] ADIS16470: Add no-param GetAngle and GetRate (#6184)

This helps with backwards compatibility.
---
 .../main/native/include/frc/ADIS16470_IMU.h   | 10 ++--
 .../edu/wpi/first/wpilibj/ADIS16470_IMU.java  | 54 +++++++++++++++++++
 2 files changed, 60 insertions(+), 4 deletions(-)

diff --git a/wpilibc/src/main/native/include/frc/ADIS16470_IMU.h b/wpilibc/src/main/native/include/frc/ADIS16470_IMU.h
index af3a2d64d0..c5ee7e6a6c 100644
--- a/wpilibc/src/main/native/include/frc/ADIS16470_IMU.h
+++ b/wpilibc/src/main/native/include/frc/ADIS16470_IMU.h
@@ -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.
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
index b7236a57ee..67a5beca86 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
@@ -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.
    *