Package org.team1126.lib.swerve.hardware

Class SwerveIMUs.SwerveIMU

java.lang.Object

org.team1126.lib.swerve.hardware.SwerveIMUs.SwerveIMU

All Implemented Interfaces:

AutoCloseable

Enclosing class:

SwerveIMUs

public abstract static class SwerveIMUs.SwerveIMU
extends Object

A swerve IMU.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static interface	SwerveIMUs.SwerveIMU.Ctor	(config) -> SwerveIMU
static interface	SwerveIMUs.SwerveIMU.IMUSimHook	Provides consumer to be saved and invoked periodically with the robot's current chassis speeds to update the simulated IMU.

Constructor Summary

Constructors

Constructor	Description
SwerveIMU()

Method Summary

Modifier and Type	Method	Description
static SwerveIMUs.SwerveIMU	construct(SwerveIMUs.SwerveIMU.Ctor ctor, SwerveConfig config, SwerveIMUs.SwerveIMU.IMUSimHook simHook)	Constructs a swerve IMU.
Object	getAPI()	Returns the device's underlying API.
abstract edu.wpi.first.math.geometry.Rotation2d	getPitch()	Gets the IMU's absolute pitch.
abstract edu.wpi.first.math.geometry.Rotation2d	getRoll()	Gets the IMU's absolute roll.
default List<com.ctre.phoenix6.BaseStatusSignal>	getSignals()	Returns all Phoenix status signals in use by the hardware.
abstract edu.wpi.first.math.geometry.Rotation2d	getYaw()	Gets the IMU's absolute yaw.
default boolean	readError()	If the device has encountered an error while reading inputs.

Methods inherited from class java.lang.Object

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

Methods inherited from interface java.lang.AutoCloseable

close

Constructor Details

SwerveIMU

public SwerveIMU()

Method Details

construct

public static SwerveIMUs.SwerveIMU construct(SwerveIMUs.SwerveIMU.Ctor ctor,
 SwerveConfig config,
 SwerveIMUs.SwerveIMU.IMUSimHook simHook)

Constructs a swerve IMU. Wraps to support simulation if applicable.

Parameters:

ctor - The IMU's constructor.

config - The general swerve API configuration.

simHook - Hook to update the IMU if simulation is active.

getYaw

public abstract edu.wpi.first.math.geometry.Rotation2d getYaw()

Gets the IMU's absolute yaw.

getPitch

public abstract edu.wpi.first.math.geometry.Rotation2d getPitch()

Gets the IMU's absolute pitch.

getRoll

public abstract edu.wpi.first.math.geometry.Rotation2d getRoll()

Gets the IMU's absolute roll.

getAPI

Object getAPI()

Returns the device's underlying API.

getSignals

default List<com.ctre.phoenix6.BaseStatusSignal> getSignals()

Returns all Phoenix status signals in use by the hardware. Phoenix hardware should not invoke .refresh() on their status signals in their implementations. This method is required for the odometry thread to register signals to be refreshed automatically. Because signals are not thread safe, all returned signals should also be cloned in their initialization as to not interfere with telemetry, which is invoked on the main thread. The exception to this rule is IMU pitch and roll values, as they are only measured synchronously when calling SwerveAPI.refresh().

readError

default boolean readError()

If the device has encountered an error while reading inputs.