Gyro Class Reference

Public Member Functions
	Gyro ()
double	GetHeading ()
frc::Rotation2d	GetHeadingAsRot2d ()
void	ZeroHeading ()
	Zeroes the heading of the robot. More...
double	GetTurnRate ()

Public Attributes
PigeonIMU	m_gyro

Detailed Description

Definition at line 14 of file Gyro.h.

Constructor & Destructor Documentation

Gyro::Gyro

(

)

Definition at line 4 of file Gyro.cpp.

: m_gyro(0) {}

Member Function Documentation

double Gyro::GetHeading

(

)

Returns the heading of the robot.

Returns

the robot's heading in degrees, from -180 to 180

Definition at line 6 of file Gyro.cpp.

References DriveConstants::kGyroReversed, and m_gyro.

{
    auto heading = std::remainder(m_gyro.GetFusedHeading(), 360.0) * (kGyroReversed ? -1. : 1.);
    if (heading > 180.0)
        heading -= 360.0;

    return heading;
}

frc::Rotation2d Gyro::GetHeadingAsRot2d ( )

inline

Definition at line 22 of file Gyro.h.

{ return frc::Rotation2d(degree_t(GetHeading())); }

void Gyro::ZeroHeading

(

)

Zeroes the heading of the robot.

Definition at line 15 of file Gyro.cpp.

References m_gyro.

{
    m_gyro.SetFusedHeading(0.0, 0);
}

double Gyro::GetTurnRate

(

)

Returns the turn rate of the robot.

Returns

The turn rate of the robot, in degrees per second

Definition at line 20 of file Gyro.cpp.

References DriveConstants::kGyroReversed, and m_gyro.

{
    double turnRates [3] = {0, 0, 0};
    m_gyro.GetRawGyro(turnRates);
    return turnRates[2] * (kGyroReversed ? -1. : 1.); 
}

Member Data Documentation

PigeonIMU Gyro::m_gyro

Definition at line 31 of file Gyro.h.

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The documentation for this class was generated from the following files:

• src/main/include/common/Gyro.h
• src/main/cpp/common/Gyro.cpp