Package xbot.common.controls.sensors.wpi_adapters

Class InertialMeasurementUnitAdapter

java.lang.Object

xbot.common.controls.sensors.XGyro

xbot.common.controls.sensors.wpi_adapters.InertialMeasurementUnitAdapter

All Implemented Interfaces:

AutoCloseable, DataFrameRefreshable

public class InertialMeasurementUnitAdapter
extends XGyro

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	InertialMeasurementUnitAdapter.InertialMeasurementUnitAdapterFactory

Nested classes/interfaces inherited from class xbot.common.controls.sensors.XGyro

XGyro.ImuType, XGyro.InterfaceType, XGyro.XGyroFactory

Field Summary

Fields inherited from class xbot.common.controls.sensors.XGyro

deviceName, imuType, io

Constructor Summary

Constructors

Constructor	Description
InertialMeasurementUnitAdapter(DevicePolice police, IMUInfo imuInfo)

Method Summary

Modifier and Type	Method	Description
void	close()
double	getDeviceRawAccelX()
double	getDeviceRawAccelY()
double	getDeviceRawAccelZ()
double	getDeviceVelocityX()
double	getDeviceVelocityY()
double	getDeviceVelocityZ()
AngularVelocity	getDeviceYawAngularVelocity()	Note: this is in degrees per second.
boolean	isBroken()
boolean	isConnected()
protected void	updateInputs(XGyroIoInputs inputs)

Methods inherited from class xbot.common.controls.sensors.XGyro

getAcceleration, getAccelerationX, getAccelerationY, getAccelerationZ, getHeading, getImuType, getPitch, getRoll, getYawAngularVelocity, refreshDataFrame

Methods inherited from class java.lang.Object

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

Constructor Details

InertialMeasurementUnitAdapter

@AssistedInject
public InertialMeasurementUnitAdapter(DevicePolice police,
 @Assisted
 IMUInfo imuInfo)

Method Details

isConnected

public boolean isConnected()

Overrides:

isConnected in class XGyro

updateInputs

protected void updateInputs(XGyroIoInputs inputs)

Specified by:

updateInputs in class XGyro

isBroken

public boolean isBroken()

Specified by:

isBroken in class XGyro

getDeviceYawAngularVelocity

public AngularVelocity getDeviceYawAngularVelocity()

Note: this is in degrees per second.

getDeviceVelocityX

public double getDeviceVelocityX()

getDeviceVelocityY

public double getDeviceVelocityY()

getDeviceVelocityZ

public double getDeviceVelocityZ()

getDeviceRawAccelX

public double getDeviceRawAccelX()

getDeviceRawAccelY

public double getDeviceRawAccelY()

getDeviceRawAccelZ

public double getDeviceRawAccelZ()

close

public void close()