Package xbot.common.controls.sensors

Class XGyro

java.lang.Object

xbot.common.controls.sensors.XGyro

All Implemented Interfaces:

DataFrameRefreshable

Direct Known Subclasses:

InertialMeasurementUnitAdapter, MockGyro

public abstract class XGyro
extends Object
implements DataFrameRefreshable

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	XGyro.ImuType
static enum	XGyro.InterfaceType
static class	XGyro.XGyroFactory

Field Summary

Fields

Modifier and Type	Field	Description
protected XGyro.ImuType	imuType
protected xbot.common.controls.io_inputs.XGyroIoInputsAutoLogged	io

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	XGyro(XGyro.ImuType imuType)

Method Summary

Modifier and Type	Method	Description
WrappedRotation2d	getHeading()	In degrees
protected XGyro.ImuType	getImuType()
double	getPitch()
double	getRoll()
double	getYawAngularVelocity()
abstract boolean	isBroken()
boolean	isConnected()
void	refreshDataFrame()	Consumes and processes inputs from the device or subsystem.
protected abstract void	updateInputs(XGyroIoInputs inputs)

Methods inherited from class java.lang.Object

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

Field Details

imuType

protected XGyro.ImuType imuType

io

protected xbot.common.controls.io_inputs.XGyroIoInputsAutoLogged io

Constructor Details

XGyro

protected XGyro(XGyro.ImuType imuType)

Method Details

isBroken

public abstract boolean isBroken()

getImuType

protected XGyro.ImuType getImuType()

getHeading

public WrappedRotation2d getHeading()

In degrees

getRoll

public double getRoll()

getPitch

public double getPitch()

getYawAngularVelocity

public double getYawAngularVelocity()

isConnected

public boolean isConnected()

updateInputs

protected abstract void updateInputs(XGyroIoInputs inputs)

refreshDataFrame

public void refreshDataFrame()

Description copied from interface: DataFrameRefreshable

Consumes and processes inputs from the device or subsystem.

Specified by:

refreshDataFrame in interface DataFrameRefreshable