Package lib.custom.sensors

Class CustomNavx

java.lang.Object

lib.custom.sensors.CustomNavx

All Implemented Interfaces:

IMU

public class CustomNavx
extends Object
implements IMU

NavX should be mounted to robot according to WPILib coordinates: +X is forward, +Y is left, +Z is up

Field Summary

Fields

Modifier and Type	Field	Description
protected final com.studica.frc.Navx	navx

Constructor Summary

Constructors

Constructor	Description
CustomNavx(int id)	Creates a new NavX

Method Summary

Modifier and Type	Method	Description
double	getPitch()
double	getRoll()
double	getTemperature()	Get current hardware temperature in freedom units (°F)
double	getYaw()
void	zeroYaw(double offset)	Set the current yaw to the provided rotation

Methods inherited from class java.lang.Object

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

Methods inherited from interface lib.custom.sensors.IMU

getRotation2d, getRotation3d, zeroYaw

Field Details

navx

protected final com.studica.frc.Navx navx

Constructor Details

CustomNavx

public CustomNavx(int id)

Creates a new NavX

Parameters:

id - the CAN id of the navx. For whatever reason, this must be 0. Don't ask why.

Method Details

getYaw

public double getYaw()

Specified by:

getYaw in interface IMU

Returns:

current yaw in rotations; positive = counterclockwise

getPitch

public double getPitch()

Specified by:

getPitch in interface IMU

Returns:

current pitch in rotations; positive = front up

getRoll

public double getRoll()

Specified by:

getRoll in interface IMU

Returns:

current roll in rotations; positive = left side up, right side down

zeroYaw

public void zeroYaw(double offset)

Description copied from interface: IMU

Set the current yaw to the provided rotation

Specified by:

zeroYaw in interface IMU

getTemperature

public double getTemperature()

Description copied from interface: IMU

Get current hardware temperature in freedom units (°F)

Specified by:

getTemperature in interface IMU