Systemcore onboard IMU. More...

#include <wpi/hardware/imu/OnboardIMU.hpp>

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.
wpi::units::radian_t	GetYaw ()
	Get the yaw value.
void	ResetYaw ()
	Reset the current yaw value to 0.
wpi::math::Rotation2d	GetRotation2d ()
	Get the yaw as a wpi::math::Rotation2d.
wpi::math::Rotation3d	GetRotation3d ()
	Get the 3D orientation as a wpi::math::Rotation3d.
wpi::math::Quaternion	GetQuaternion ()
	Get the 3D orientation as a wpi::math::Quaternion.
wpi::units::radian_t	GetAngleX ()
	Get the angle about the X axis of the IMU.
wpi::units::radian_t	GetAngleY ()
	Get the angle about the Y axis of the IMU.
wpi::units::radian_t	GetAngleZ ()
	Get the angle about the Z axis of the IMU.
wpi::units::radians_per_second_t	GetGyroRateX ()
	Get the angular rate about the X axis of the IMU.
wpi::units::radians_per_second_t	GetGyroRateY ()
	Get the angular rate about the Y axis of the IMU.
wpi::units::radians_per_second_t	GetGyroRateZ ()
	Get the angular rate about the Z axis of the IMU.
wpi::units::meters_per_second_squared_t	GetAccelX ()
	Get the acceleration along the X axis of the IMU.
wpi::units::meters_per_second_squared_t	GetAccelY ()
	Get the acceleration along the Z axis of the IMU.
wpi::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 wpi::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()

wpi::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()

wpi::units::meters_per_second_squared_t wpi::OnboardIMU::GetAccelX ( )

Get the acceleration along the X axis of the IMU.

Returns: acceleration along the X axis

◆ GetAccelY()

wpi::units::meters_per_second_squared_t wpi::OnboardIMU::GetAccelY ( )

Get the acceleration along the Z axis of the IMU.

Returns: acceleration along the Z axis

◆ GetAccelZ()

wpi::units::meters_per_second_squared_t wpi::OnboardIMU::GetAccelZ ( )

Get the acceleration along the Z axis of the IMU.

Returns: acceleration along the Z axis

◆ GetAngleX()

wpi::units::radian_t wpi::OnboardIMU::GetAngleX ( )

Get the angle about the X axis of the IMU.

Returns: angle about the X axis

◆ GetAngleY()

wpi::units::radian_t wpi::OnboardIMU::GetAngleY ( )

Get the angle about the Y axis of the IMU.

Returns: angle about the Y axis

◆ GetAngleZ()

wpi::units::radian_t wpi::OnboardIMU::GetAngleZ ( )

Get the angle about the Z axis of the IMU.

Returns: angle about the Z axis

◆ GetGyroRateX()

wpi::units::radians_per_second_t wpi::OnboardIMU::GetGyroRateX ( )

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

Returns: angular rate about the X axis

◆ GetGyroRateY()

wpi::units::radians_per_second_t wpi::OnboardIMU::GetGyroRateY ( )

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

Returns: angular rate about the Y axis

◆ GetGyroRateZ()

wpi::units::radians_per_second_t wpi::OnboardIMU::GetGyroRateZ ( )

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

Returns: angular rate about the Z axis

◆ GetQuaternion()

wpi::math::Quaternion wpi::OnboardIMU::GetQuaternion ( )

Get the 3D orientation as a wpi::math::Quaternion.

Returns: 3D orientation

◆ GetRotation2d()

wpi::math::Rotation2d wpi::OnboardIMU::GetRotation2d ( )

Get the yaw as a wpi::math::Rotation2d.

Returns: yaw

◆ GetRotation3d()

wpi::math::Rotation3d wpi::OnboardIMU::GetRotation3d ( )

Get the 3D orientation as a wpi::math::Rotation3d.

Returns: 3D orientation

◆ GetYaw()

wpi::units::radian_t wpi::OnboardIMU::GetYaw ( )

Get the yaw value.

Returns: yaw value

◆ ResetYaw()

void wpi::OnboardIMU::ResetYaw ( )

Reset the current yaw value to 0.

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

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

wpi/hardware/imu/OnboardIMU.hpp

Public Types

Public Member Functions