NavX: + *
Calibrate the gyro by running for a number of samples and computing the center value. Then use + * the center value as the Accumulator center value for subsequent measurements. It's important to + * make sure that the robot is not moving while the centering calculations are in progress, this + * is typically done when the robot is first turned on while it's sitting at rest before the + * competition starts. + * + *
Pigeon: + *
Calibrate the gyro by collecting data at a range of tempuratures. Allow pigeon to cool, then boot + * into calibration mode. For faster calibration, use a heat lamp to heat up the pigeon. Once the pigeon + * has seen a reasonable range of tempuratures, it will exit calibration mode. It's important to + * make sure that the robot is not moving while the tempurature calculations are in progress, this + * is typically done when the robot is first turned on while it's sitting at rest before the + * competition starts. + */ + @Override + public void calibrate() { + if (isGyroAPigeon) { + m_pigeon.enterCalibrationMode(CalibrationMode.Temperature); + } else { + m_navX.calibrate(); + } + } + + @Override + public void reset() { + if (isGyroAPigeon) { + m_pigeon.setYaw(0); + } else { + m_navX.reset(); + } + } + + /** + * Get Yaw, Pitch, and Roll data. + * + * @return ypr_deg Array with yaw[0], pitch[1], and roll[2] data. + * Yaw is within [-368,640, +368,640] degrees. + * Pitch is within [-90,+90] degrees. + * Roll is within [-90,+90] degrees. + */ + public double[] getPigeonAngles() { + double[] angles = new double[3]; + m_pigeon.getYawPitchRoll(angles); + return angles; + } + + @Override + public double getAngle() { + if (isGyroAPigeon) { + return getPigeonAngles()[0]; + } else { + return m_navX.getAngle(); + } + } + + /** + * Gets an absolute heading of the robot + * @return heading from -180 to 180 degrees + */ + public double getHeading() { + return Math.IEEEremainder(getAngle(), 360); + } + + /** + * Returns the current pitch value (in degrees, from -90 to 90) + * reported by the sensor. Pitch is a measure of rotation around + * the Y Axis. + * @return The current pitch value in degrees (-90 to 90). + */ + public double getPitch() { + if (isGyroAPigeon) { + return MathUtil.clamp(getPigeonAngles()[1], -90, 90); + } else { + return MathUtil.clamp(m_navX.getPitch(), -90, 90); + } + } + + /** + * Returns the current roll value (in degrees, from -90 to 90) + * reported by the sensor. Roll is a measure of rotation around + * the X Axis. + * @return The current roll value in degrees (-90 to 90). + */ + public double getRoll() { + if (isGyroAPigeon) { + return MathUtil.clamp(getPigeonAngles()[2], -90, 90); + } else { + return MathUtil.clamp(m_navX.getRoll(), -90, 90); + } + } + + @Override + public double getRate() { + if (isGyroAPigeon) { + return 0; + } else { + return m_navX.getRate(); + } + } + + public PigeonIMU getPigeon(){ + return m_pigeon; + } + + public AHRS getNavX(){ + return m_navX; + } + + @Override + public void close() throws Exception { + + } +} diff --git a/vendordeps/navx_frc.json b/vendordeps/navx_frc.json new file mode 100644 index 0000000..dca1d82 --- /dev/null +++ b/vendordeps/navx_frc.json @@ -0,0 +1,35 @@ +{ + "fileName": "navx_frc.json", + "name": "KauaiLabs_navX_FRC", + "version": "3.1.413", + "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", + "mavenUrls": [ + "https://repo1.maven.org/maven2/" + ], + "jsonUrl": "https://www.kauailabs.com/dist/frc/2020/navx_frc.json", + "javaDependencies": [ + { + "groupId": "com.kauailabs.navx.frc", + "artifactId": "navx-java", + "version": "3.1.413" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "com.kauailabs.navx.frc", + "artifactId": "navx-cpp", + "version": "3.1.413", + "headerClassifier": "headers", + "sourcesClassifier": "sources", + "sharedLibrary": false, + "libName": "navx_frc", + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "linuxraspbian", + "windowsx86-64" + ] + } + ] +} \ No newline at end of file