Package frc.robot.subsystems.drive.gyro

Class GyroIO.GyroIOInputs

java.lang.Object
frc.robot.subsystems.drive.gyro.GyroIO.GyroIOInputs
Enclosing interface:
GyroIO
public static class GyroIO.GyroIOInputs extends Object
Contains all of the inputs received from the gyro hardware.

  • Field Details

    • connected

      public boolean connected
      Whether the gyro is currently connected and communicating.

    • locked

      public boolean locked
      Whether the gyro is ready for use.

    • yawPosition

      public Angle yawPosition
      The current yaw position from the gyro.

    • yawVelocity

      public AngularVelocity yawVelocity
      The current angular velocity around the yaw axis.

    • rollPosition

      public Angle rollPosition
      The current roll position from the gyro.

    • pitchPosition

      public Angle pitchPosition
      The current pitch position from the gyro.

    • rollVelocity

      public AngularVelocity rollVelocity
      The current angular velocity around the roll axis.

    • pitchVelocity

      public AngularVelocity pitchVelocity
      The current angular velocity around the pitch axis.

    • healthy

      public boolean healthy
      Whether the gyro is healthy.

    • types

      public GyroType[] types
      The types of gyros in use.

    • activeFaults

      public int[] activeFaults
      The active faults associated with the gyro.

    • stickyFaults

      public int[] stickyFaults
      The sticky faults associated with the gyro.

    • odometryYawTimestamps

      public double[] odometryYawTimestamps
      Timestamps for high-frequency yaw measurements used for odometry.

      Measured in seconds via RobotController.getFPGATime().

    • odometryYawPositions

      public double[] odometryYawPositions
      Yaw positions corresponding to the timestamps in odometryYawTimestamps.

      Measured in radians.

  • Constructor Details

    • GyroIOInputs

      public GyroIOInputs()