Package org.firstinspires.ftc.teamcode.fy23.robot.subsystems

Interface FriendlyIMU

All Known Implementing Classes:
FriendlyIMUBlank, FriendlyIMUImpl, MockFriendlyIMU
public interface FriendlyIMU
Represents the IMU built into the control hub. Currently only supports the BNO055, but there is a task on the board (albeit of very low priority) to use the newer IMU interface instead. Wraps the IMU already available in the SDK, making pitch, roll, and yaw easily accessible as methods rather than the SDK's more complicated ways of obtaining them. AxesOrder is ZYX, because most of our uses for the IMU rely on accurate yaw (Z axis) information. Unless an AngleUnit is specified, returned values will be in degrees.

  • Nested Class Summary

    Nested Classes
    Modifier and Type
    Interface
    Description
    static class 
    FriendlyIMU.Parameters
     

  • Method Summary

    Modifier and Type
    Method
    Description
    double
    pitch()
    X rotation
    double
    pitch(org.firstinspires.ftc.robotcore.external.navigation.AngleUnit angleUnit)
    X rotation
    double
    pitchVel()
    Velocity of X rotation
    double
    pitchVel(org.firstinspires.ftc.robotcore.external.navigation.AngleUnit angleUnit)
    Velocity of X rotation
    double
    roll()
    Y rotation
    double
    roll(org.firstinspires.ftc.robotcore.external.navigation.AngleUnit angleUnit)
    Y rotation
    double
    rollVel()
    Velocity of Y rotation
    double
    rollVel(org.firstinspires.ftc.robotcore.external.navigation.AngleUnit angleUnit)
    Velocity of Y rotation
    void
    update()
    Called by robot.update().
    double
    yaw()
    Z rotation
    double
    yaw(org.firstinspires.ftc.robotcore.external.navigation.AngleUnit angleUnit)
    Z rotation
    double
    yawVel()
    Velocity of Z rotation
    double
    yawVel(org.firstinspires.ftc.robotcore.external.navigation.AngleUnit angleUnit)
    Velocity of Z rotation

  • Method Details

    • pitch

      double pitch()
      X rotation

    • pitch

      double pitch(org.firstinspires.ftc.robotcore.external.navigation.AngleUnit angleUnit)
      X rotation

    • pitchVel

      double pitchVel()
      Velocity of X rotation

    • pitchVel

      double pitchVel(org.firstinspires.ftc.robotcore.external.navigation.AngleUnit angleUnit)
      Velocity of X rotation

    • roll

      double roll()
      Y rotation

    • roll

      double roll(org.firstinspires.ftc.robotcore.external.navigation.AngleUnit angleUnit)
      Y rotation

    • rollVel

      double rollVel()
      Velocity of Y rotation

    • rollVel

      double rollVel(org.firstinspires.ftc.robotcore.external.navigation.AngleUnit angleUnit)
      Velocity of Y rotation

    • yaw

      double yaw()
      Z rotation

    • yaw

      double yaw(org.firstinspires.ftc.robotcore.external.navigation.AngleUnit angleUnit)
      Z rotation

    • yawVel

      double yawVel()
      Velocity of Z rotation

    • yawVel

      double yawVel(org.firstinspires.ftc.robotcore.external.navigation.AngleUnit angleUnit)
      Velocity of Z rotation

    • update

      void update()
      Called by robot.update(). You do not need to call this method.