Package frc.robot.subsystems.drive.gyro

Interface GyroIO

All Known Implementing Classes:
GyroIOCanAndGyro, GyroIODual, GyroIONavX
public interface GyroIO
Interface for the gyroscope input/output abstraction.

  • Nested Class Summary

    Nested Classes
    Modifier and Type
    Interface
    Description
    static class 
    GyroIO.GyroIOInputs
    Contains all of the inputs received from the gyro hardware.

  • Method Summary

    Modifier and Type
    Method
    Description
    default void
    clearFaults()
    Clears all faults and warnings.
    default void
    setRotation(Rotation3d rotation)
    Sets the gyro's rotation to the specified angle.
    default IMUState
    updateHighFreq(double timestampSec)
    Polls high-frequency data for the 200Hz odometry loop.
    default void
    updateInputs(GyroIO.GyroIOInputs inputs)
    Updates the set of loggable inputs.

  • Method Details

    • updateInputs

      default void updateInputs(GyroIO.GyroIOInputs inputs)
      Updates the set of loggable inputs.
      Parameters:
      inputs - The inputs object to update.

    • updateHighFreq

      default IMUState updateHighFreq(double timestampSec)
      Polls high-frequency data for the 200Hz odometry loop.
      Parameters:
      timestampSec - The exact timestamp of the current 200Hz tick.
      Returns:
      The latest 6-DOF IMU state or null if the data is not available.

    • clearFaults

      default void clearFaults()
      Clears all faults and warnings.

    • setRotation

      default void setRotation(Rotation3d rotation)
      Sets the gyro's rotation to the specified angle.
      Parameters:
      rotation - The angle to set the gyro's rotation to.