frc.team670.robot.dataCollection.sensors

Class NavX

java.lang.Object

frc.team670.robot.dataCollection.sensors.NavX

public class NavX
extends java.lang.Object

Driver for a NavX board. Basically a wrapper for the AHRS class. Much of this was taken from 254's code release.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
class	NavX.NavX_Pitch_PIDSource
class	NavX.ZeroableNavX_Yaw_PIDSource

Constructor Summary

Constructors

Constructor and Description
NavX(SerialPort.Port port)
NavX(SPI.Port spi_port_id)

Method Summary

Modifier and Type	Method and Description
double	getAngle()
AHRS	getFieldCentricNavXPIDSource() Gets the NavX object itself so be careful with it and don't reset it.
NavX.NavX_Pitch_PIDSource	getNavXPitchPIDSource() Gets the NavX's pitch as a PIDSource
double	getPitch() Gets the pitch of the NavX
double	getRawAccelX()
double	getYawDouble() Gets the yaw with offset taken into account.
double	getYawFieldCentric() Gets the field centric yaw (0 degrees is forward for the robot from its starting position),
double	getYawRateDegreesPerSec() The rate of change of the NavX angle in degrees per second.
double	getYawRateRadiansPerSec() The rate of change of the NavX angle in radians per second.
NavX.ZeroableNavX_Yaw_PIDSource	getZeroableNavXYawPIDSource() Gets the NavX as a PIDSource that responds to the NavX being zeroed.
void	reset() Resets and recalibrates the NavX (yaw will go back to zero and offset cleared).
void	zeroYaw() Zeroes the yaw for getYawDouble()

Methods inherited from class java.lang.Object

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

Constructor Detail

NavX

public NavX(SPI.Port spi_port_id)

NavX

public NavX(SerialPort.Port port)

Method Detail

reset

public void reset()

Resets and recalibrates the NavX (yaw will go back to zero and offset cleared). Call this right at the beginning of the match.

zeroYaw

public void zeroYaw()

Zeroes the yaw for getYawDouble()

getYawDouble

public double getYawDouble()

Gets the yaw with offset taken into account. Offset sets the zero of the gyro to the point where zeroYaw() was last called.

getAngle

public double getAngle()

getYawRateDegreesPerSec

public double getYawRateDegreesPerSec()

The rate of change of the NavX angle in degrees per second.

getYawRateRadiansPerSec

public double getYawRateRadiansPerSec()

The rate of change of the NavX angle in radians per second.

getRawAccelX

public double getRawAccelX()

getZeroableNavXYawPIDSource

public NavX.ZeroableNavX_Yaw_PIDSource getZeroableNavXYawPIDSource()

Gets the NavX as a PIDSource that responds to the NavX being zeroed.

getNavXPitchPIDSource

public NavX.NavX_Pitch_PIDSource getNavXPitchPIDSource()

Gets the NavX's pitch as a PIDSource

getFieldCentricNavXPIDSource

public AHRS getFieldCentricNavXPIDSource()

Gets the NavX object itself so be careful with it and don't reset it. This will be field centric.

getYawFieldCentric

public double getYawFieldCentric()

Gets the field centric yaw (0 degrees is forward for the robot from its starting position),

Returns:

The Yaw (-180, 180) with -180 and 180 being directly backwards.

getPitch

public double getPitch()

Gets the pitch of the NavX