Package xbot.common.controls.sensors

Class XGyro

java.lang.Object

xbot.common.controls.sensors.XGyro

All Implemented Interfaces:

AutoCloseable, DataFrameRefreshable

Direct Known Subclasses:

InertialMeasurementUnitAdapter, MockGyro, Pigeon2Adapter

public abstract class XGyro
extends Object
implements DataFrameRefreshable, AutoCloseable

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 final String	deviceName
protected final XGyro.ImuType	imuType
protected final xbot.common.controls.io_inputs.XGyroIoInputsAutoLogged	io

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	XGyro(IMUInfo info)

Method Summary

Modifier and Type	Method	Description
double	getAcceleration()
double	getAccelerationX()
double	getAccelerationY()
double	getAccelerationZ()
Angle	getHeading()	In degrees
protected XGyro.ImuType	getImuType()
Angle	getPitch()
Angle	getRoll()
AngularVelocity	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

Methods inherited from interface java.lang.AutoCloseable

close

Field Details

imuType

protected final XGyro.ImuType imuType

deviceName

protected final String deviceName

io

protected final xbot.common.controls.io_inputs.XGyroIoInputsAutoLogged io

Constructor Details

XGyro

protected XGyro(IMUInfo info)

Method Details

isBroken

public abstract boolean isBroken()

getImuType

protected XGyro.ImuType getImuType()

getHeading

public Angle getHeading()

In degrees

getRoll

public Angle getRoll()

getPitch

public Angle getPitch()

getYawAngularVelocity

public AngularVelocity getYawAngularVelocity()

getAccelerationX

public double getAccelerationX()

getAccelerationY

public double getAccelerationY()

getAccelerationZ

public double getAccelerationZ()

getAcceleration

public double getAcceleration()

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