Package swervelib.simulation

Class SwerveIMUSimulation

java.lang.Object

swervelib.simulation.SwerveIMUSimulation

public class SwerveIMUSimulation
extends Object

Simulation for SwerveDrive IMU.

Constructor Summary

Constructors

Constructor	Description
SwerveIMUSimulation(GyroSimulation gyroSimulation)	Create the swerve drive IMU simulation.

Method Summary

Modifier and Type	Method	Description
Optional<Translation3d>	getAccel()	Fetch the acceleration [x, y, z] from the IMU in m/s/s.
Rotation3d	getGyroRotation3d()	Gets the estimated gyro Rotation3d of the robot.
Rotation2d	getPitch()	Pitch is not simulated currently, always returns 0.
Rotation2d	getRoll()	Roll is not simulated currently, always returns 0.
Rotation2d	getYaw()	Get the estimated angle of the robot.
void	setAngle(double angle)	Set the heading of the robot.
void	updateOdometry(SwerveDriveKinematics kinematics, SwerveModuleState[] states, Pose2d[] modulePoses, Field2d field)	Update the odometry of the simulated SwerveDrive and post the SwerveModule states to the Field2d.

Methods inherited from class java.lang.Object

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

Constructor Details

SwerveIMUSimulation

public SwerveIMUSimulation(GyroSimulation gyroSimulation)

Create the swerve drive IMU simulation.

Parameters:

gyroSimulation - Gyro simulation from MapleSim.

Method Details

getYaw

public Rotation2d getYaw()

Get the estimated angle of the robot.

Returns:

Rotation2d estimation of the robot.

getPitch

public Rotation2d getPitch()

Pitch is not simulated currently, always returns 0.

Returns:

Pitch of the robot as Rotation2d.

getRoll

public Rotation2d getRoll()

Roll is not simulated currently, always returns 0.

Returns:

Roll of the robot as Rotation2d.

getGyroRotation3d

public Rotation3d getGyroRotation3d()

Gets the estimated gyro Rotation3d of the robot.

Returns:

The heading as a Rotation3d angle

getAccel

public Optional<Translation3d> getAccel()

Fetch the acceleration [x, y, z] from the IMU in m/s/s. If acceleration isn't supported returns empty.

Returns:

Translation3d of the acceleration as an Optional.

updateOdometry

public void updateOdometry(SwerveDriveKinematics kinematics,
 SwerveModuleState[] states,
 Pose2d[] modulePoses,
 Field2d field)

Update the odometry of the simulated SwerveDrive and post the SwerveModule states to the Field2d.

Parameters:

kinematics - SwerveDriveKinematics of the swerve drive.

states - SwerveModuleState array of the module states.

modulePoses - Pose2d representing the swerve modules.

field - Field2d to update.

setAngle

public void setAngle(double angle)

Set the heading of the robot.

Parameters:

angle - Angle of the robot in radians.