Package swervelib.imu

Class NavXSwerve

java.lang.Object

swervelib.imu.SwerveIMU

swervelib.imu.NavXSwerve

All Implemented Interfaces:

AutoCloseable

public class NavXSwerve
extends SwerveIMU

Communicates with the NavX(AHRS) as the IMU.

Constructor Summary

Constructors

Constructor	Description
NavXSwerve(com.studica.frc.AHRS.NavXComType port)	Constructor for the NavX(AHRS) swerve.

Method Summary

Modifier and Type	Method	Description
void	clearStickyFaults()	Clear sticky faults on IMU.
void	close()
void	factoryDefault()	Reset offset to current gyro reading.
Optional<Translation3d>	getAccel()	Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
Object	getIMU()	Get the instantiated NavX(AHRS) 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

Constructor Details

NavXSwerve

public NavXSwerve(com.studica.frc.AHRS.NavXComType port)

Constructor for the NavX(AHRS) swerve.

Parameters:

port - Serial Port to connect to.

Method Details

close

public void close()

Specified by:

close in interface AutoCloseable

Specified by:

close in class SwerveIMU

factoryDefault

public void factoryDefault()

Reset offset to current gyro reading. Does not call NavX(AHRS.reset()) because it has been reported to be too slow.

Specified by:

factoryDefault in class SwerveIMU

clearStickyFaults

public void clearStickyFaults()

Clear sticky faults on IMU.

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 NavX(AHRS) IMU object.

Specified by:

getIMU in class SwerveIMU

Returns:

IMU object.