Package swervelib.imu

Class CanandgyroSwerve

java.lang.Object

swervelib.imu.SwerveIMU

swervelib.imu.CanandgyroSwerve

All Implemented Interfaces:

AutoCloseable

public class CanandgyroSwerve
extends SwerveIMU

SwerveIMU interface for the Boron Canandgyro by Redux Robotics

Field Summary

Fields

Modifier and Type	Field	Description
static double	STATUS_TIMEOUT_SECONDS	Wait time for status frames to show up.

Constructor Summary

Constructors

Constructor	Description
CanandgyroSwerve(int canid)	Generate the SwerveIMU for Canandgyro.

Method Summary

Modifier and Type	Method	Description
void	clearStickyFaults()	Clear sticky faults on Canandgyro.
void	close()
void	factoryDefault()	Reset Canandgyro to factory default.
Optional<Translation3d>	getAccel()	Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
Object	getIMU()	Get the instantiated Canandgyro IMU object.
Rotation3d	getRawRotation3d()	Fetch the Rotation3d from the IMU without any zeroing.
Rotation3d	getRotation3d()	Fetch the Rotation3d from the IMU.
MutAngularVelocity	getYawAngularVelocity()	Fetch the rotation rate from the IMU as MutAngularVelocity
void	setInverted(boolean invertIMU)	Set the gyro to invert its default direction
void	setOffset(Rotation3d offset)	Set the gyro offset.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

STATUS_TIMEOUT_SECONDS

public static double STATUS_TIMEOUT_SECONDS

Wait time for status frames to show up.

Constructor Details

CanandgyroSwerve

public CanandgyroSwerve(int canid)

Generate the SwerveIMU for Canandgyro.

Parameters:

canid - CAN ID for the Boron Canandgyro

Method Details

close

public void close()

Specified by:

close in interface AutoCloseable

Specified by:

close in class SwerveIMU

factoryDefault

public void factoryDefault()

Reset Canandgyro to factory default.

Specified by:

factoryDefault in class SwerveIMU

clearStickyFaults

public void clearStickyFaults()

Clear sticky faults on Canandgyro.

Specified by:

clearStickyFaults in class SwerveIMU

setOffset

public void setOffset(Rotation3d offset)

Set the gyro offset.

Specified by:

setOffset in class SwerveIMU

Parameters:

offset - gyro offset as a Rotation3d.

setInverted

public void setInverted(boolean invertIMU)

Set the gyro to invert its default direction

Specified by:

setInverted in class SwerveIMU

Parameters:

invertIMU - invert gyro direction

getRawRotation3d

public Rotation3d getRawRotation3d()

Fetch the Rotation3d from the IMU without any zeroing. Robot relative.

Specified by:

getRawRotation3d in class SwerveIMU

Returns:

Rotation3d from the IMU.

getRotation3d

public Rotation3d getRotation3d()

Fetch the Rotation3d from the IMU. Robot relative.

Specified by:

getRotation3d in class SwerveIMU

Returns:

Rotation3d from the IMU.

getAccel

public Optional<Translation3d> getAccel()

Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns empty.

Specified by:

getAccel in class SwerveIMU

Returns:

Translation3d of the acceleration as an Optional.

getYawAngularVelocity

public MutAngularVelocity getYawAngularVelocity()

Description copied from class: SwerveIMU

Fetch the rotation rate from the IMU as MutAngularVelocity

Specified by:

getYawAngularVelocity in class SwerveIMU

Returns:

MutAngularVelocity of the rotation rate.

getIMU

public Object getIMU()

Get the instantiated Canandgyro IMU object.

Specified by:

getIMU in class SwerveIMU

Returns:

IMU object.