Package edu.wpi.first.hal

Class IMUJNI

java.lang.Object
edu.wpi.first.hal.JNIWrapper
edu.wpi.first.hal.IMUJNI
public class IMUJNI extends JNIWrapper
IMU Functions.
See Also:
  • "hal/IMU.h"

  • Nested Class Summary

    Nested classes/interfaces inherited from class edu.wpi.first.hal.JNIWrapper

    JNIWrapper.Helper

  • Constructor Summary

    Constructors
    Constructor
    Description
    IMUJNI()
     

  • Method Summary

    Modifier and Type
    Method
    Description
    static void
    getIMUAcceleration(double[] accel)
    Get the acceleration along the axes of the IMU in meters per second squared.
    static void
    getIMUEulerAnglesFlat(double[] angles)
    Get the angle, in radians, about the axes of the IMU in the "flat" orientation.
    static void
    getIMUEulerAnglesLandscape(double[] angles)
    Get the angle, in radians, about the axes of the IMU in the "landscape" orientation.
    static void
    getIMUEulerAnglesPortrait(double[] angles)
    Get the angle, in radians, about the axes of the IMU in the "portrait" orientation.
    static void
    getIMUGyroRates(double[] rates)
    Get the angular rate about the axes of the IMU in radians per second.
    static void
    getIMUQuaternion(double[] quat)
    Get the orientation of the IMU as a quaternion.
    static double
    getIMUYawFlat()
    Get the yaw value, in radians, of the IMU in the "flat" orientation.
    static double
    getIMUYawLandscape()
    Get the yaw value, in radians, of the IMU in the "landscape" orientation.
    static double
    getIMUYawPortrait()
    Get the yaw value, in radians, of the IMU in the "portrait" orientation.

    Methods inherited from class edu.wpi.first.hal.JNIWrapper

    forceLoad, suppressUnused

    Methods inherited from class java.lang.Object

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

  • Constructor Details

  • Method Details

    • getIMUAcceleration

      public static void getIMUAcceleration(double[] accel)
      Get the acceleration along the axes of the IMU in meters per second squared.
      Parameters:
      accel - array of size >= 3 to place the acceleration data in. The data will be in the form [x, y, z].

    • getIMUGyroRates

      public static void getIMUGyroRates(double[] rates)
      Get the angular rate about the axes of the IMU in radians per second.
      Parameters:
      rates - array of size >= 3 to place the angular rate data in. The data will be in the form [x, y, z].

    • getIMUEulerAnglesFlat

      public static void getIMUEulerAnglesFlat(double[] angles)
      Get the angle, in radians, about the axes of the IMU in the "flat" orientation.
      Parameters:
      angles - array of size >= 3 to place the angle data in. The data will be in the form [x, y, z].

    • getIMUEulerAnglesLandscape

      public static void getIMUEulerAnglesLandscape(double[] angles)
      Get the angle, in radians, about the axes of the IMU in the "landscape" orientation.
      Parameters:
      angles - array of size >= 3 to place the angle data in. The data will be in the form [x, y, z].

    • getIMUEulerAnglesPortrait

      public static void getIMUEulerAnglesPortrait(double[] angles)
      Get the angle, in radians, about the axes of the IMU in the "portrait" orientation.
      Parameters:
      angles - array of size >= 3 to place the angle data in. The data will be in the form [x, y, z].

    • getIMUQuaternion

      public static void getIMUQuaternion(double[] quat)
      Get the orientation of the IMU as a quaternion.
      Parameters:
      quat - array of size >= 4 to place the quaternion data in. The data will be in the form [w, x, y, z].

    • getIMUYawFlat

      public static double getIMUYawFlat()
      Get the yaw value, in radians, of the IMU in the "flat" orientation.
      Returns:
      flat orientation yaw

    • getIMUYawLandscape

      public static double getIMUYawLandscape()
      Get the yaw value, in radians, of the IMU in the "landscape" orientation.
      Returns:
      landscape orientation yaw

    • getIMUYawPortrait

      public static double getIMUYawPortrait()
      Get the yaw value, in radians, of the IMU in the "portrait" orientation.
      Returns:
      portrait orientation yaw