Package org.team1126.lib.swerve.hardware

Class SwerveIMUs

java.lang.Object

org.team1126.lib.swerve.hardware.SwerveIMUs

public final class SwerveIMUs
extends Object

Contains implementations for IMUs to be used with the SwerveAPI.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	SwerveIMUs.SwerveIMU	A swerve IMU.

Method Summary

Modifier and Type	Method	Description
static SwerveIMUs.SwerveIMU.Ctor	adis16470(edu.wpi.first.wpilibj.ADIS16470_IMU.IMUAxis yawAxis, edu.wpi.first.wpilibj.ADIS16470_IMU.IMUAxis pitchAxis, edu.wpi.first.wpilibj.ADIS16470_IMU.IMUAxis rollAxis, edu.wpi.first.wpilibj.SPI.Port port, edu.wpi.first.wpilibj.ADIS16470_IMU.CalibrationTime calibrationTime)	Configures an ADIS16470 IMU.
static SwerveIMUs.SwerveIMU.Ctor	canandgyro(int id)	Configures a Canandgyro.
static SwerveIMUs.SwerveIMU.Ctor	pigeon2(int id)	Configures a Pigeon2.

Methods inherited from class java.lang.Object

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

Method Details

adis16470

public static SwerveIMUs.SwerveIMU.Ctor adis16470(edu.wpi.first.wpilibj.ADIS16470_IMU.IMUAxis yawAxis,
 edu.wpi.first.wpilibj.ADIS16470_IMU.IMUAxis pitchAxis,
 edu.wpi.first.wpilibj.ADIS16470_IMU.IMUAxis rollAxis,
 edu.wpi.first.wpilibj.SPI.Port port,
 edu.wpi.first.wpilibj.ADIS16470_IMU.CalibrationTime calibrationTime)

Configures an ADIS16470 IMU.

Parameters:

yawAxis - The axis to use for yaw.

pitchAxis - The axis to use for pitch.

rollAxis - The axis to use for roll.

port - The SPI port used.

calibrationTime - The time frame to calibrate for.

canandgyro

public static SwerveIMUs.SwerveIMU.Ctor canandgyro(int id)

Configures a Canandgyro.

Parameters:

id - CAN ID of the device, as configured in Alchemist.

pigeon2

public static SwerveIMUs.SwerveIMU.Ctor pigeon2(int id)

Configures a Pigeon2.

Parameters:

id - CAN ID of the device, as configured in Phoenix Tuner.