BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.hardware/IMUEx

IMUEx

open class IMUEx : IMU, Runnable

Drop-in replacement for an Inertial Measurement Unit that provides WPIUnit data and the capabilities of automatic updates similar to (but not implementing) a subsystem multi-thread.

This class supports different readings of IMU measurement, such as an unrestricted domain on heading reads, while also being able to provide IMU units in terms of WPIUnits.

This class is also down-castable to the Universal IMU Interface. Note that all data in this class is retrieved via the run method, which opens the possibility for threading the IMU via startThread, similar to a BunyipsSubsystem.

Since this class is down-castable, it also can be used as a HardwareDevice and serves as a drop-in replacement for the IMU interface.

Field-exposed angles from this class are intrinsic. Read more in the YawPitchRollAngles and Orientation classes.

Author

Lucas Bubner, 2024

Since

4.0.0

Constructors

constructor(@NonNull imu: IMU)

Wrap an IMU to use in IMUEx.

Types

The various modes that the yaw field can represent the current robot yaw as.

Properties

lastAcquisitionTimeNanos

open var lastAcquisitionTimeNanos: Long

Last acquisition of data from the IMU by IMUOp.

open var pitch: Measure<Angle>

Last read pitch of the IMU.

open var pitchVel: Measure<Velocity<Angle>>

Last read pitch velocity of the IMU.

open var quaternion: Quaternion

Last known robot-centric quaternion reported from the IMU and yaw offset.

open var roll: Measure<Angle>

Last read roll of the IMU.

open var rollVel: Measure<Velocity<Angle>>

Last read roll velocity of the IMU.

open var yaw: Measure<Angle>

Last read yaw (heading) of the IMU with the yaw offset.

open var yawOffset: Measure<Angle>

open var yawVel: Measure<Velocity<Angle>>

Last read yaw velocity of the IMU.

Functions

open fun close()

getConnectionInfo

open fun getConnectionInfo(): String

open fun getDeviceName(): String

getManufacturer

open fun getManufacturer(): HardwareDevice.Manufacturer

getRobotAngularVelocity

open fun getRobotAngularVelocity(@NonNull angleUnit: AngleUnit): AngularVelocity

getRobotOrientation

open fun getRobotOrientation(@NonNull reference: AxesReference, @NonNull order: AxesOrder, @NonNull angleUnit: AngleUnit): Orientation

Note: This Orientation will not respect the currently set YawDomain to ensure consistency across usages of the Universal IMU Interface.

getRobotOrientationAsQuaternion

open fun getRobotOrientationAsQuaternion(): Quaternion

Note: This Orientation will not respect the currently set YawDomain to ensure consistency across usages of the Universal IMU Interface.

getRobotYawPitchRollAngles

open fun getRobotYawPitchRollAngles(): YawPitchRollAngles

Note: This method will not respect the currently set YawDomain, as it may not respect the angle requirement as listed by the YawPitchRollAngles that is provided by this method.

open fun getVersion(): Int

open fun getYawDomain(): IMUEx.YawDomain

Gets the current yaw domain, which is the domain this IMU is reporting yaw at.

open fun initialize(@NonNull parameters: IMU.Parameters): Boolean

resetDeviceConfigurationForOpMode

open fun resetDeviceConfigurationForOpMode()

open fun resetYaw()

open fun run()

Update the class fields and method return values with newest information from the IMU.

open fun setYawDomain(@NonNull newDomain: IMUEx.YawDomain)

Sets the domain range of what the yaw field will return.

setYawMultiplier

open fun setYawMultiplier(mul: Double)

Set a multiplicative scale that will be applied to every delta update of the IMU heading.

open fun startThread()

open fun startThread(@NonNull loopSleepDuration: Measure<Time>)

Call to delegate the manual data updating of the IMU to a thread managed by Threads.

open fun stopThread()

Call to stop the thread started by startThread.