com.arcrobotics.ftclib.hardware

Class RevIMU

java.lang.Object

com.arcrobotics.ftclib.hardware.GyroEx

com.arcrobotics.ftclib.hardware.RevIMU

All Implemented Interfaces:

HardwareDevice

public class RevIMU
extends GyroEx

Constructor Summary

Constructors

Constructor and Description
RevIMU(HardwareMap hw) Create a new object for the built-in gyro/imu in the Rev Expansion Hub with the default configuration name of "imu"
RevIMU(HardwareMap hw, java.lang.String imuName) Create a new object for the built-in gyro/imu in the Rev Expansion Hub

Method Summary

Modifier and Type	Method and Description
void	disable()
double	getAbsoluteHeading()
double[]	getAngles()
java.lang.String	getDeviceType()
double	getHeading()
BNO055IMU	getRevIMU() Get the underlying sensor
Rotation2d	getRotation2d()
void	init() Initializes gyro with default parameters.
void	init(BNO055IMU.Parameters parameters) Initializes gyro with custom parameters.
void	invertGyro() Inverts the ouptut of gyro
void	reset()

Methods inherited from class java.lang.Object

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

Constructor Detail

RevIMU

public RevIMU(HardwareMap hw,
              java.lang.String imuName)

Create a new object for the built-in gyro/imu in the Rev Expansion Hub

Parameters:

hw - Hardware map

imuName - Name of sensor in configuration

RevIMU

public RevIMU(HardwareMap hw)

Create a new object for the built-in gyro/imu in the Rev Expansion Hub with the default configuration name of "imu"

Parameters:

hw - Hardware map

Method Detail

init

public void init()

Initializes gyro with default parameters.

Specified by:

init in class GyroEx

init

public void init(BNO055IMU.Parameters parameters)

Initializes gyro with custom parameters.

invertGyro

public void invertGyro()

Inverts the ouptut of gyro

getHeading

public double getHeading()

Specified by:

getHeading in class GyroEx

Returns:

Relative heading of the robot

getAbsoluteHeading

public double getAbsoluteHeading()

Specified by:

getAbsoluteHeading in class GyroEx

Returns:

Absolute heading of the robot

getAngles

public double[] getAngles()

Specified by:

getAngles in class GyroEx

Returns:

X, Y, Z angles of gyro

getRotation2d

public Rotation2d getRotation2d()

Specified by:

getRotation2d in class GyroEx

Returns:

Transforms heading into rotation2d

disable

public void disable()

reset

public void reset()

Specified by:

reset in class GyroEx

getDeviceType

public java.lang.String getDeviceType()

getRevIMU

public BNO055IMU getRevIMU()

Get the underlying sensor