com.qualcomm.hardware.kauailabs

Class NavxMicroNavigationSensor

java.lang.Object

<any>

com.qualcomm.hardware.kauailabs.NavxMicroNavigationSensor

public class NavxMicroNavigationSensor
extends <any>

NavxMicroNavigationSensor provides support for the Kauai Labs navX-Micro Robotics Navigation Sensor. This sensor contains an Invensense MPU-9250 integrated circuit.

See Also:

navX-Micro, Invensense MPU-9250

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	NavxMicroNavigationSensor.CalibrationStatus
static class	NavxMicroNavigationSensor.IntegrationControl
static class	NavxMicroNavigationSensor.OpStatus
static class	NavxMicroNavigationSensor.Parameters
static class	NavxMicroNavigationSensor.Register
static class	NavxMicroNavigationSensor.SelfTestStatus
static class	NavxMicroNavigationSensor.SensorStatus

Field Summary

Fields

Modifier and Type	Field and Description
static I2cAddr	ADDRESS_I2C_DEFAULT
protected float	gyroScaleFactor
protected static I2cDeviceSynch.ReadWindow	lowerWindow
int	NAVX_WRITE_COMMAND_BIT
protected static I2cDeviceSynch.ReadMode	readMode
protected static I2cDeviceSynch.ReadWindow	upperWindow

Constructor Summary

Constructors

Constructor and Description
NavxMicroNavigationSensor(I2cDeviceSynch deviceClient)

Method Summary

Modifier and Type	Method and Description
protected void	ensureReadWindow(I2cDeviceSynch.ReadWindow needed)
Orientation	getAngularOrientation(AxesReference reference, AxesOrder order, org.firstinspires.ftc.robotcore.external.navigation.AngleUnit angleUnit)
java.util.Set<Axis>	getAngularOrientationAxes()
AngularVelocity	getAngularVelocity(AngleUnit unit)
java.util.Set<Axis>	getAngularVelocityAxes()
java.lang.String	getDeviceName()
RobotUsbDevice.FirmwareVersion	getFirmwareVersion()
I2cAddr	getI2cAddress()
Manufacturer	getManufacturer()
protected boolean	internalInitialize(NavxMicroNavigationSensor.Parameters parameters)
boolean	isCalibrating() Returns true if the sensor is currently performing automatic gyro/accelerometer calibration.
protected static I2cDeviceSynch.ReadWindow	newWindow(NavxMicroNavigationSensor.Register regFirst, NavxMicroNavigationSensor.Register regMax)
byte	read8(NavxMicroNavigationSensor.Register reg)
short	readShort(NavxMicroNavigationSensor.Register reg)
float	readSignedHundredthsFloat(NavxMicroNavigationSensor.Register reg)
TimestampedData	readTimeStamped(NavxMicroNavigationSensor.Register reg, int creg)
void	setI2cAddress(I2cAddr newAddress)
protected void	setReadWindow()
protected float	shortToSignedHundredths(short value)
void	write8(NavxMicroNavigationSensor.Register reg, byte value)
void	writeShort(NavxMicroNavigationSensor.Register reg, short value)

Methods inherited from class java.lang.Object

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

Field Detail

NAVX_WRITE_COMMAND_BIT

public final int NAVX_WRITE_COMMAND_BIT

See Also:

Constant Field Values

readMode

protected static final I2cDeviceSynch.ReadMode readMode

lowerWindow

protected static final I2cDeviceSynch.ReadWindow lowerWindow

upperWindow

protected static final I2cDeviceSynch.ReadWindow upperWindow

gyroScaleFactor

protected float gyroScaleFactor

ADDRESS_I2C_DEFAULT

public static final I2cAddr ADDRESS_I2C_DEFAULT

Constructor Detail

NavxMicroNavigationSensor

public NavxMicroNavigationSensor(I2cDeviceSynch deviceClient)

Method Detail

newWindow

protected static I2cDeviceSynch.ReadWindow newWindow(NavxMicroNavigationSensor.Register regFirst,
                                                     NavxMicroNavigationSensor.Register regMax)

setReadWindow

protected void setReadWindow()

internalInitialize

protected boolean internalInitialize(NavxMicroNavigationSensor.Parameters parameters)

getManufacturer

public Manufacturer getManufacturer()

getDeviceName

public java.lang.String getDeviceName()

getFirmwareVersion

public RobotUsbDevice.FirmwareVersion getFirmwareVersion()

ensureReadWindow

protected void ensureReadWindow(I2cDeviceSynch.ReadWindow needed)

readTimeStamped

public TimestampedData readTimeStamped(NavxMicroNavigationSensor.Register reg,
                                       int creg)

read8

public byte read8(NavxMicroNavigationSensor.Register reg)

readShort

public short readShort(NavxMicroNavigationSensor.Register reg)

readSignedHundredthsFloat

public float readSignedHundredthsFloat(NavxMicroNavigationSensor.Register reg)

shortToSignedHundredths

protected float shortToSignedHundredths(short value)

write8

public void write8(NavxMicroNavigationSensor.Register reg,
                   byte value)

writeShort

public void writeShort(NavxMicroNavigationSensor.Register reg,
                       short value)

isCalibrating

public boolean isCalibrating()

Returns true if the sensor is currently performing automatic gyro/accelerometer calibration. Automatic calibration occurs when the sensor is initially powered on, during which time the sensor should be held still, with the Z-axis pointing up (perpendicular to the earth).

NOTE: During this automatic calibration, the angular orientation data may not be accurate.

Returns:

whether the sensor is currently performing automatic calibration

getAngularVelocityAxes

public java.util.Set<Axis> getAngularVelocityAxes()

getAngularOrientationAxes

public java.util.Set<Axis> getAngularOrientationAxes()

getAngularOrientation

public Orientation getAngularOrientation(AxesReference reference,
                                         AxesOrder order,
                                         org.firstinspires.ftc.robotcore.external.navigation.AngleUnit angleUnit)

getAngularVelocity

public AngularVelocity getAngularVelocity(AngleUnit unit)

setI2cAddress

public void setI2cAddress(I2cAddr newAddress)

getI2cAddress

public I2cAddr getI2cAddress()