Package frc.robot.subsystems.drive.gyro

Class GyroIOCanAndGyro

java.lang.Object

frc.robot.subsystems.drive.gyro.GyroIOCanAndGyro

All Implemented Interfaces:

GyroIO

public class GyroIOCanAndGyro
extends Object
implements GyroIO

IO implementation for the Redux Robotics Canandgyro.

Nested Class Summary

Nested classes/interfaces inherited from interface frc.robot.subsystems.drive.gyro.GyroIO

GyroIO.GyroIOInputs

Constructor Summary

Constructors

Constructor	Description
GyroIOCanAndGyro()	Creates a new GyroIOCanAndGyro.

Method Summary

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

Methods inherited from class java.lang.Object

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

Constructor Details

GyroIOCanAndGyro

public GyroIOCanAndGyro()

Creates a new GyroIOCanAndGyro.

Method Details

updateHighFreq

public IMUState updateHighFreq(double timestampSec)

Description copied from interface: GyroIO

Polls high-frequency data for the 200Hz odometry loop.

Specified by:

updateHighFreq in interface GyroIO

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.

updateInputs

public void updateInputs(GyroIO.GyroIOInputs inputs)

Description copied from interface: GyroIO

Updates the set of loggable inputs.

Specified by:

updateInputs in interface GyroIO

Parameters:

inputs - The inputs object to update.

clearFaults

public void clearFaults()

Description copied from interface: GyroIO

Clears all faults and warnings.

Specified by:

clearFaults in interface GyroIO

setRotation

public void setRotation(Rotation3d rotation)

Description copied from interface: GyroIO

Sets the gyro's rotation to the specified angle.

Specified by:

setRotation in interface GyroIO

Parameters:

rotation - The angle to set the gyro's rotation to.