Package edu.wpi.first.wpilibj.simulation

Class ADIS16470_IMUSim

java.lang.Object
edu.wpi.first.wpilibj.simulation.ADIS16470_IMUSim
public class ADIS16470_IMUSim extends Object
Class to control a simulated ADIS16470 gyroscope.

  • Constructor Summary

    Constructors
    Constructor
    Description
    ADIS16470_IMUSim(ADIS16470_IMU gyro)
    Constructs from an ADIS16470_IMU object.

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    setAccelX(double accelMetersPerSecondSquared)
    Sets the X axis acceleration in meters per second squared.
    void
    setAccelY(double accelMetersPerSecondSquared)
    Sets the Y axis acceleration in meters per second squared.
    void
    setAccelZ(double accelMetersPerSecondSquared)
    Sets the Z axis acceleration in meters per second squared.
    void
    setGyroAngleX(double angleDegrees)
    Sets the X axis angle in degrees (CCW positive).
    void
    setGyroAngleY(double angleDegrees)
    Sets the Y axis angle in degrees (CCW positive).
    void
    setGyroAngleZ(double angleDegrees)
    Sets the Z axis angle in degrees (CCW positive).
    void
    setGyroRateX(double angularRateDegreesPerSecond)
    Sets the X axis angle in degrees per second (CCW positive).
    void
    setGyroRateY(double angularRateDegreesPerSecond)
    Sets the Y axis angle in degrees per second (CCW positive).
    void
    setGyroRateZ(double angularRateDegreesPerSecond)
    Sets the Z axis angle in degrees per second (CCW positive).

    Methods inherited from class java.lang.Object

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

  • Constructor Details

    • ADIS16470_IMUSim

      public ADIS16470_IMUSim(ADIS16470_IMU gyro)
      Constructs from an ADIS16470_IMU object.
      Parameters:
      gyro - ADIS16470_IMU to simulate

  • Method Details

    • setGyroAngleX

      public void setGyroAngleX(double angleDegrees)
      Sets the X axis angle in degrees (CCW positive).
      Parameters:
      angleDegrees - The angle.

    • setGyroAngleY

      public void setGyroAngleY(double angleDegrees)
      Sets the Y axis angle in degrees (CCW positive).
      Parameters:
      angleDegrees - The angle.

    • setGyroAngleZ

      public void setGyroAngleZ(double angleDegrees)
      Sets the Z axis angle in degrees (CCW positive).
      Parameters:
      angleDegrees - The angle.

    • setGyroRateX

      public void setGyroRateX(double angularRateDegreesPerSecond)
      Sets the X axis angle in degrees per second (CCW positive).
      Parameters:
      angularRateDegreesPerSecond - The angular rate.

    • setGyroRateY

      public void setGyroRateY(double angularRateDegreesPerSecond)
      Sets the Y axis angle in degrees per second (CCW positive).
      Parameters:
      angularRateDegreesPerSecond - The angular rate.

    • setGyroRateZ

      public void setGyroRateZ(double angularRateDegreesPerSecond)
      Sets the Z axis angle in degrees per second (CCW positive).
      Parameters:
      angularRateDegreesPerSecond - The angular rate.

    • setAccelX

      public void setAccelX(double accelMetersPerSecondSquared)
      Sets the X axis acceleration in meters per second squared.
      Parameters:
      accelMetersPerSecondSquared - The acceleration.

    • setAccelY

      public void setAccelY(double accelMetersPerSecondSquared)
      Sets the Y axis acceleration in meters per second squared.
      Parameters:
      accelMetersPerSecondSquared - The acceleration.

    • setAccelZ

      public void setAccelZ(double accelMetersPerSecondSquared)
      Sets the Z axis acceleration in meters per second squared.
      Parameters:
      accelMetersPerSecondSquared - The acceleration.