frc::OnboardIMU Class Reference

SystemCore onboard IMU. More...

#include <frc/OnboardIMU.h>

Public Types
enum	MountOrientation { kFlat , kLandscape , kPortrait }
	A mount orientation of SystemCore. More...

Public Member Functions
	OnboardIMU (MountOrientation mountOrientation)
	Constructs a handle to the SystemCore onboard IMU.
units::radian_t	GetYaw ()
	Get the yaw value.
void	ResetYaw ()
	Reset the current yaw value to 0.
Rotation2d	GetRotation2d ()
	Get the yaw as a Rotation2d.
Rotation3d	GetRotation3d ()
	Get the 3D orientation as a Rotation3d.
Quaternion	GetQuaternion ()
	Get the 3D orientation as a Quaternion.
units::radian_t	GetAngleX ()
	Get the angle about the X axis of the IMU.
units::radian_t	GetAngleY ()
	Get the angle about the Y axis of the IMU.
units::radian_t	GetAngleZ ()
	Get the angle about the Z axis of the IMU.
units::radians_per_second_t	GetGyroRateX ()
	Get the angular rate about the X axis of the IMU.
units::radians_per_second_t	GetGyroRateY ()
	Get the angular rate about the Y axis of the IMU.
units::radians_per_second_t	GetGyroRateZ ()
	Get the angular rate about the Z axis of the IMU.
units::meters_per_second_squared_t	GetAccelX ()
	Get the acceleration along the X axis of the IMU.
units::meters_per_second_squared_t	GetAccelY ()
	Get the acceleration along the Z axis of the IMU.
units::meters_per_second_squared_t	GetAccelZ ()
	Get the acceleration along the Z axis of the IMU.

Detailed Description

SystemCore onboard IMU.

Member Enumeration Documentation

MountOrientation

enum frc::OnboardIMU::MountOrientation

A mount orientation of SystemCore.

Enumerator
kFlat	Flat (mounted parallel to the ground).
kLandscape	Landscape (vertically mounted with long edge of SystemCore parallel to the ground).
kPortrait	Portrait (vertically mounted with the short edge of SystemCore parallel to the ground).

Constructor & Destructor Documentation

OnboardIMU()

frc::OnboardIMU::OnboardIMU ( MountOrientation mountOrientation )

explicit

Constructs a handle to the SystemCore onboard IMU.

Parameters

mountOrientation

the mount orientation of SystemCore to determine yaw.

Member Function Documentation

GetAccelX()

units::meters_per_second_squared_t frc::OnboardIMU::GetAccelX

(

)

Get the acceleration along the X axis of the IMU.

Returns

acceleration along the X axis

GetAccelY()

units::meters_per_second_squared_t frc::OnboardIMU::GetAccelY

(

)

Get the acceleration along the Z axis of the IMU.

Returns

acceleration along the Z axis

GetAccelZ()

units::meters_per_second_squared_t frc::OnboardIMU::GetAccelZ

(

)

Get the acceleration along the Z axis of the IMU.

Returns

acceleration along the Z axis

GetAngleX()

units::radian_t frc::OnboardIMU::GetAngleX

(

)

Get the angle about the X axis of the IMU.

Returns

angle about the X axis

GetAngleY()

units::radian_t frc::OnboardIMU::GetAngleY

(

)

Get the angle about the Y axis of the IMU.

Returns

angle about the Y axis

GetAngleZ()

units::radian_t frc::OnboardIMU::GetAngleZ

(

)

Get the angle about the Z axis of the IMU.

Returns

angle about the Z axis

GetGyroRateX()

units::radians_per_second_t frc::OnboardIMU::GetGyroRateX

(

)

Get the angular rate about the X axis of the IMU.

Returns

angular rate about the X axis

GetGyroRateY()

units::radians_per_second_t frc::OnboardIMU::GetGyroRateY

(

)

Get the angular rate about the Y axis of the IMU.

Returns

angular rate about the Y axis

GetGyroRateZ()

units::radians_per_second_t frc::OnboardIMU::GetGyroRateZ

(

)

Get the angular rate about the Z axis of the IMU.

Returns

angular rate about the Z axis

GetQuaternion()

Quaternion frc::OnboardIMU::GetQuaternion

(

)

Get the 3D orientation as a Quaternion.

Returns

3D orientation

GetRotation2d()

Rotation2d frc::OnboardIMU::GetRotation2d

(

)

Get the yaw as a Rotation2d.

Returns

yaw

GetRotation3d()

Rotation3d frc::OnboardIMU::GetRotation3d

(

)

Get the 3D orientation as a Rotation3d.

Returns

3D orientation

GetYaw()

units::radian_t frc::OnboardIMU::GetYaw

(

)

Get the yaw value.

Returns

yaw value

ResetYaw()

void frc::OnboardIMU::ResetYaw

(

)

Reset the current yaw value to 0.

Future reads of the yaw value will be relative to the current orientation.

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The documentation for this class was generated from the following file:

• frc/OnboardIMU.h