Package com.studica.frc

Class AHRS

java.lang.Object
com.studica.frc.AHRS
All Implemented Interfaces:
edu.wpi.first.networktables.NTSendable, edu.wpi.first.util.sendable.Sendable, AutoCloseable
public class AHRS extends Object implements edu.wpi.first.networktables.NTSendable, AutoCloseable
The AHRS class provides an interface to AHRS capabilities of the KauaiLabs navX Robotics Navigation Sensor via SPI, I2C and Serial (TTL UART and USB) communications interfaces on the RoboRIO. The AHRS class enables access to basic connectivity and state information, as well as key 6-axis and 9-axis orientation information (yaw, pitch, roll, compass heading, fused (9-axis) heading and magnetic disturbance detection. Additionally, the ARHS class also provides access to extended information including linear acceleration, motion detection, rotation detection and sensor temperature. If used with the navX Aero, the AHRS class also provides access to altitude, barometric pressure and pressure sensor temperature data

  • Nested Class Summary

    Nested Classes
    Modifier and Type
    Class
    Description
    static enum 
    AHRS.BoardAxis
    Identifies one of the three sensing axes on the navX sensor board.
    static class 
    AHRS.BoardYawAxis
    Indicates which sensor board axis is used as the "yaw" (gravity) axis.
    static enum 
    AHRS.NavXComType
    Enum for the user to select which method to communcicate with a navx device
    static enum 
    AHRS.NavXUpdateRate
    Enum for the user to select which custom update rate to run the NavX and NavX background thread at.

  • Constructor Summary

    Constructors
    Constructor
    Description
    AHRS(AHRS.NavXComType comType)
    Constructs the AHRS class using the selected communication.
    AHRS(AHRS.NavXComType comType, int customRateHz)
    Constructs the AHRS class using the selected communication, overriding the default update rate with a custom rate which may be from 4 to 200, representing the number of updates per second sent by the sensor.
    AHRS(AHRS.NavXComType comType, AHRS.NavXUpdateRate updateRate)
    Constructs the AHRS class using the selected communication, overriding the default update rate with a custom rate which may be from 4 to 200, representing the number of updates per second sent by the sensor.

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    close()
     
    void
    configureVelocity(boolean swapAxes, boolean invertX, boolean invertY, boolean invertZ)
    Call this to configure swapable axes for X/Y or to invert an axis.
    void
    enableBoardlevelYawReset(boolean enable)
    Enables or disables board-level yaw zero (reset) requests.
    void
    enableLogging(boolean enable)
    Enables or disables logging (via Console I/O) of AHRS library internal behaviors, including events such as transient communication errors.
    short
    getAccelFullScaleRangeG()
    Returns the sensor full scale range (in G) of the X, Y and X-axis accelerometers.
    int
    getActualUpdateRate()
    Returns the navX-Model device's currently configured update rate.
    float
    getAltitude()
    Returns the current altitude, based upon calibrated readings from a barometric pressure sensor, and the currently-configured sea-level barometric pressure [navX Aero only].
    double
    getAngle()
    Returns the total accumulated yaw angle (Z Axis, in degrees) reported by the sensor.
    double
    getAngleAdjustment()
    Returns the currently configured adjustment angle.
    float
    getBarometricPressure()
    Returns the current barometric pressure, based upon calibrated readings from the onboard pressure sensor.
    AHRS.BoardYawAxis
    getBoardYawAxis()
    Returns information regarding which sensor board axis (X,Y or Z) and direction (up/down) is currently configured to report Yaw (Z) angle values.
    double
    getByteCount()
    Returns the count in bytes of data received from the sensor.
    float
    getCompassHeading()
    Returns the current tilt-compensated compass heading value (in degrees, from 0 to 360) reported by the sensor.
    float
    getDisplacementX()
    Returns the displacement (in meters) of the X axis since resetDisplacement() was last invoked [Experimental].
    float
    getDisplacementY()
    Returns the displacement (in meters) of the Y axis since resetDisplacement() was last invoked [Experimental].
    float
    getDisplacementZ()
    Returns the displacement (in meters) of the Z axis since resetDisplacement() was last invoked [Experimental].
    String
    getFirmwareVersion()
    Returns the version number of the firmware currently executing on the sensor.
    float
    getFusedHeading()
    Returns the "fused" (9-axis) heading.
    short
    getGyroFullScaleRangeDPS()
    Returns the sensor full scale range (in degrees per second) of the X, Y and X-axis gyroscopes.
    long
    getLastSensorTimestamp()
    Returns the sensor timestamp corresponding to the last sample retrieved from the sensor.
    float
    getPitch()
    Returns the current pitch value (in degrees, from -180 to 180) reported by the sensor.
    int
    getPort()
    Returns the port number of the navx.
    float
    getPressure()
    Returns the current barometric pressure (in millibar) [navX Aero only].
    float
    getQuaternionW()
    Returns the imaginary portion (W) of the Orientation Quaternion which fully describes the current sensor orientation with respect to the reference angle defined as the angle at which the yaw was last "zeroed".
    float
    getQuaternionX()
    Returns the real portion (X axis) of the Orientation Quaternion which fully describes the current sensor orientation with respect to the reference angle defined as the angle at which the yaw was last "zeroed".
    float
    getQuaternionY()
    Returns the real portion (Y axis) of the Orientation Quaternion which fully describes the current sensor orientation with respect to the reference angle defined as the angle at which the yaw was last "zeroed".
    float
    getQuaternionZ()
    Returns the real portion (Z axis) of the Orientation Quaternion which fully describes the current sensor orientation with respect to the reference angle defined as the angle at which the yaw was last "zeroed".
    double
    getRate()
    Return the rate of rotation of the yaw (Z-axis) gyro, in degrees per second.
    float
    getRawAccelX()
    Returns the current raw (unprocessed) X-axis acceleration rate (in G).
    float
    getRawAccelY()
    Returns the current raw (unprocessed) Y-axis acceleration rate (in G).
    float
    getRawAccelZ()
    Returns the current raw (unprocessed) Z-axis acceleration rate (in G).
    float
    getRawGyroX()
    Returns the current raw (unprocessed) X-axis gyro rotation rate (in degrees/sec).
    float
    getRawGyroY()
    Returns the current raw (unprocessed) Y-axis gyro rotation rate (in degrees/sec).
    float
    getRawGyroZ()
    Returns the current raw (unprocessed) Z-axis gyro rotation rate (in degrees/sec).
    float
    getRawMagX()
    Returns the current raw (unprocessed) X-axis magnetometer reading (in uTesla).
    float
    getRawMagY()
    Returns the current raw (unprocessed) Y-axis magnetometer reading (in uTesla).
    float
    getRawMagZ()
    Returns the current raw (unprocessed) Z-axis magnetometer reading (in uTesla).
    int
    getRequestedUpdateRate()
    Returns the currently requested update rate.
    float
    getRobotCentricVelocityX()
    Returns the velocity (in meters/sec) of the Robot Centric X axis [Experimental].
    float
    getRobotCentricVelocityY()
    Returns the velocity (in meters/sec) of the Robot Centric Y axis [Experimental].
    float
    getRobotCentricVelocityZ()
    Returns the velocity (in meters/sec) of the Robot Centric Z axis [Experimental].
    float
    getRoll()
    Returns the current roll value (in degrees, from -180 to 180) reported by the sensor.
    edu.wpi.first.math.geometry.Rotation2d
    getRotation2d()
    Return the heading of the robot as a Rotation2d.
    edu.wpi.first.math.geometry.Rotation3d
    getRotation3d()
    Constructs a Rotation3d from a quaternion
    float
    getTempC()
    Returns the current temperature (in degrees centigrade) reported by the sensor's gyro/accelerometer circuit.
    double
    getUpdateCount()
    Returns the count of valid updates which have been received from the sensor.
    float
    getVelocityX()
    Returns the velocity (in meters/sec) of the X axis [Experimental].
    float
    getVelocityY()
    Returns the velocity (in meters/sec) of the Y axis [Experimental].
    float
    getVelocityZ()
    Returns the velocity (in meters/sec) of the Z axis [Experimental].
    float
    getWorldLinearAccelX()
    Returns the current linear acceleration in the X-axis (in G).
    float
    getWorldLinearAccelY()
    Returns the current linear acceleration in the Y-axis (in G).
    float
    getWorldLinearAccelZ()
    Returns the current linear acceleration in the Z-axis (in G).
    float
    getYaw()
    Returns the current yaw value (in degrees, from -180 to 180) reported by the sensor.
    void
    initSendable(edu.wpi.first.networktables.NTSendableBuilder builder)
    Initializes smart dashboard communication
    boolean
    isAltitudeValid()
    Indicates whether the current altitude (and barometric pressure) data is valid.
    boolean
    isBoardlevelYawResetEnabled()
    Returns true if Board-level yaw resets are enabled.
    boolean
    isCalibrating()
    Returns true if the sensor is currently performing automatic gyro/accelerometer calibration.
    boolean
    isConnected()
    Indicates whether the sensor is currently connected to the host computer.
    boolean
    isMagneticDisturbance()
    Indicates whether the current magnetic field strength diverges from the calibrated value for the earth's magnetic field by more than the currently- configured Magnetic Disturbance Ratio.
    boolean
    isMagnetometerCalibrated()
    Indicates whether the magnetometer has been calibrated.
    boolean
    isMoving()
    Indicates if the sensor is currently detecting motion, based upon the X and Y-axis world linear acceleration values.
    boolean
    isRotating()
    Indicates if the sensor is currently detecting yaw rotation, based upon whether the change in yaw over the last second exceeds the "Rotation Threshold."
    void
    reset()
    Reset the Yaw gyro.
    void
    resetDisplacement()
    Zeros the displacement integration variables.
    void
    setAngleAdjustment(double angle)
    Sets an amount of angle to be automatically added before returning a angle from the getAngle() method.
    void
    updateDisplacement(float accelXG, float accelYG, int updateRateHz, boolean isMoving)
    Each time new linear acceleration samples are received, this function should be invoked.
    void
    zeroYaw()
    Sets the user-specified yaw offset to the current yaw value reported by the sensor.

    Methods inherited from class java.lang.Object

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

    Methods inherited from interface edu.wpi.first.networktables.NTSendable

    initSendable

  • Constructor Details

    • AHRS

      public AHRS(AHRS.NavXComType comType)
      Constructs the AHRS class using the selected communication. The update rate will be the default.
      Parameters:
      comType - Com Port to use

    • AHRS

      public AHRS(AHRS.NavXComType comType, AHRS.NavXUpdateRate updateRate)
      Constructs the AHRS class using the selected communication, overriding the default update rate with a custom rate which may be from 4 to 200, representing the number of updates per second sent by the sensor. Note that increasing the update rate may increase the CPU utilization. This constructor provides an enum for setting the update rate. These are preselected rates to ensure stable update rates. For update rates outside the enum use the AHRS(NavXComType comType, int customRateHz) constructor;
      Parameters:
      comType - Com Port to use
      updateRate - Custom Update Rate (Hz)

    • AHRS

      public AHRS(AHRS.NavXComType comType, int customRateHz)
      Constructs the AHRS class using the selected communication, overriding the default update rate with a custom rate which may be from 4 to 200, representing the number of updates per second sent by the sensor. Note that increasing the update rate may increase the CPU utilization. The actual sample rate is rounded down to the nearest integer that is divisible by the number of Digital Motion Processor clock ticks. For instance, a request for 58 Hertz will result in an actual rate of 66Hz (200 / (200 / 58), using integer math.
      Parameters:
      comType - Com Port to use
      customRateHz - Custom Update Rate (Hz)

  • Method Details

    • getPort

      public int getPort()
      Returns the port number of the navx.
      Returns:
      port number

    • getPitch

      public float getPitch()
      Returns the current pitch value (in degrees, from -180 to 180) reported by the sensor. Pitch is a measure of rotation around the X Axis.
      Returns:
      The current pitch value in degrees (-180 to 180).

    • getRoll

      public float getRoll()
      Returns the current roll value (in degrees, from -180 to 180) reported by the sensor. Roll is a measure of rotation around the X Axis.
      Returns:
      The current roll value in degrees (-180 to 180).

    • getYaw

      public float getYaw()
      Returns the current yaw value (in degrees, from -180 to 180) reported by the sensor. Yaw is a measure of rotation around the Z Axis (which is perpendicular to the earth).

      Note that the returned yaw value will be offset by a user-specified offset value; this user-specified offset value is set by invoking the zeroYaw() method.

      Returns:
      The current yaw value in degrees (-180 to 180).

    • getCompassHeading

      public float getCompassHeading()
      Returns the current tilt-compensated compass heading value (in degrees, from 0 to 360) reported by the sensor.

      Note that this value is sensed by a magnetometer, which can be affected by nearby magnetic fields (e.g., the magnetic fields generated by nearby motors).

      Before using this value, ensure that (a) the magnetometer has been calibrated and (b) that a magnetic disturbance is not taking place at the instant when the compass heading was generated.

      Returns:
      The current tilt-compensated compass heading, in degrees (0-360).

    • zeroYaw

      public void zeroYaw()
      Sets the user-specified yaw offset to the current yaw value reported by the sensor.

      This user-specified yaw offset is automatically subtracted from subsequent yaw values reported by the getYaw() method. NOTE: This method has no effect if the sensor is currently calibrating, since resetting the yaw will interfere with the calibration process.

    • getRotation2d

      public edu.wpi.first.math.geometry.Rotation2d getRotation2d()
      Return the heading of the robot as a Rotation2d.

      The angle is continuous, that is it will continue from 360 to 361 degrees. This allows algorithms that wouldn't want to see a discontinuity in the gyro output as it sweeps past from 360 to 0 on the second time around.

      The angle is expected to increase as the gyro turns counterclockwise when looked at from the top. It needs to follow the NWU axis convention.

      This heading is based on integration of the returned rate from the gyro.

      Returns:
      the current heading of the robot as a Rotation2d.

    • getRotation3d

      public edu.wpi.first.math.geometry.Rotation3d getRotation3d()
      Constructs a Rotation3d from a quaternion
      Returns:
      the Rotation3d

    • isCalibrating

      public boolean isCalibrating()
      Returns true if the sensor is currently performing automatic gyro/accelerometer calibration. Automatic calibration occurs when the sensor is initially powered on, during which time the sensor should be held still, with the Z-axis pointing up (perpendicular to the earth).

      NOTE: During this automatic calibration, the yaw, pitch and roll values returned may not be accurate.

      Once calibration is complete, the sensor will automatically remove an internal yaw offset value from all reported values.

      Returns:
      Returns true if the sensor is currently automatically calibrating the gyro and accelerometer sensors.

    • isConnected

      public boolean isConnected()
      Indicates whether the sensor is currently connected to the host computer. A connection is considered established whenever communication with the sensor has occurred recently.

      Returns:
      Returns true if a valid update has been recently received from the sensor.

    • getByteCount

      public double getByteCount()
      Returns the count in bytes of data received from the sensor. This could can be useful for diagnosing connectivity issues.

      If the byte count is increasing, but the update count (see getUpdateCount()) is not, this indicates a software misconfiguration.

      Returns:
      The number of bytes received from the sensor.

    • getUpdateCount

      public double getUpdateCount()
      Returns the count of valid updates which have been received from the sensor. This count should increase at the same rate indicated by the configured update rate.
      Returns:
      The number of valid updates received from the sensor.

    • getLastSensorTimestamp

      public long getLastSensorTimestamp()
      Returns the sensor timestamp corresponding to the last sample retrieved from the sensor. Note that this sensor timestamp is only provided when the Register-based IO methods (SPI, I2C) are used; sensor timestamps are not provided when Serial-based IO methods (TTL UART, USB) are used.
      Returns:
      The sensor timestamp corresponding to the current AHRS sensor data.

    • getWorldLinearAccelX

      public float getWorldLinearAccelX()
      Returns the current linear acceleration in the X-axis (in G).

      World linear acceleration refers to raw acceleration data, which has had the gravity component removed, and which has been rotated to the same reference frame as the current yaw value. The resulting value represents the current acceleration in the x-axis of the body (e.g., the robot) on which the sensor is mounted.

      Returns:
      Current world linear acceleration in the X-axis (in G).

    • getWorldLinearAccelY

      public float getWorldLinearAccelY()
      Returns the current linear acceleration in the Y-axis (in G).

      World linear acceleration refers to raw acceleration data, which has had the gravity component removed, and which has been rotated to the same reference frame as the current yaw value. The resulting value represents the current acceleration in the Y-axis of the body (e.g., the robot) on which the sensor is mounted.

      Returns:
      Current world linear acceleration in the Y-axis (in G).

    • getWorldLinearAccelZ

      public float getWorldLinearAccelZ()
      Returns the current linear acceleration in the Z-axis (in G).

      World linear acceleration refers to raw acceleration data, which has had the gravity component removed, and which has been rotated to the same reference frame as the current yaw value. The resulting value represents the current acceleration in the Z-axis of the body (e.g., the robot) on which the sensor is mounted.

      Returns:
      Current world linear acceleration in the Z-axis (in G).

    • isMoving

      public boolean isMoving()
      Indicates if the sensor is currently detecting motion, based upon the X and Y-axis world linear acceleration values. If the sum of the absolute values of the X and Y axis exceed a "motion threshold", the motion state is indicated.

      Returns:
      Returns true if the sensor is currently detecting motion.

    • isRotating

      public boolean isRotating()
      Indicates if the sensor is currently detecting yaw rotation, based upon whether the change in yaw over the last second exceeds the "Rotation Threshold."

      Yaw Rotation can occur either when the sensor is rotating, or when the sensor is not rotating AND the current gyro calibration is insufficiently calibrated to yield the standard yaw drift rate.

      Returns:
      Returns true if the sensor is currently detecting motion.

    • getBarometricPressure

      public float getBarometricPressure()
      Returns the current barometric pressure, based upon calibrated readings from the onboard pressure sensor. This value is in units of millibar.

      NOTE: This value is only valid for a navX Aero. To determine whether this value is valid, see isAltitudeValid().

      Returns:
      Returns current barometric pressure (navX Aero only).

    • getAltitude

      public float getAltitude()
      Returns the current altitude, based upon calibrated readings from a barometric pressure sensor, and the currently-configured sea-level barometric pressure [navX Aero only]. This value is in units of meters.

      NOTE: This value is only valid sensors including a pressure sensor. To determine whether this value is valid, see isAltitudeValid().

      Returns:
      Returns current altitude in meters (as long as the sensor includes an installed on-board pressure sensor).

    • isAltitudeValid

      public boolean isAltitudeValid()
      Indicates whether the current altitude (and barometric pressure) data is valid. This value will only be true for a sensor with an onboard pressure sensor installed.

      If this value is false for a board with an installed pressure sensor, this indicates a malfunction of the onboard pressure sensor.

      Returns:
      Returns true if a working pressure sensor is installed.

    • getFusedHeading

      public float getFusedHeading()
      Returns the "fused" (9-axis) heading.

      The 9-axis heading is the fusion of the yaw angle, the tilt-corrected compass heading, and magnetic disturbance detection. Note that the magnetometer calibration procedure is required in order to achieve valid 9-axis headings.

      The 9-axis Heading represents the sensor's best estimate of current heading, based upon the last known valid Compass Angle, and updated by the change in the Yaw Angle since the last known valid Compass Angle. The last known valid Compass Angle is updated whenever a Calibrated Compass Angle is read and the sensor has recently rotated less than the Compass Noise Bandwidth (~2 degrees).

      Returns:
      Fused Heading in Degrees (range 0-360)

    • isMagneticDisturbance

      public boolean isMagneticDisturbance()
      Indicates whether the current magnetic field strength diverges from the calibrated value for the earth's magnetic field by more than the currently- configured Magnetic Disturbance Ratio.

      This function will always return false if the sensor's magnetometer has not yet been calibrated; see isMagnetometerCalibrated().

      Returns:
      true if a magnetic disturbance is detected (or the magnetometer is uncalibrated).

    • isMagnetometerCalibrated

      public boolean isMagnetometerCalibrated()
      Indicates whether the magnetometer has been calibrated.

      Magnetometer Calibration must be performed by the user.

      Note that if this function does indicate the magnetometer is calibrated, this does not necessarily mean that the calibration quality is sufficient to yield valid compass headings.

      Returns:
      Returns true if magnetometer calibration has been performed.

    • getQuaternionW

      public float getQuaternionW()
      Returns the imaginary portion (W) of the Orientation Quaternion which fully describes the current sensor orientation with respect to the reference angle defined as the angle at which the yaw was last "zeroed".

      Each quaternion value (W,X,Y,Z) is expressed as a value ranging from -1 to 1. This total range (2) can be associated with a unit circle, since each circle is comprised of 2 PI Radians.

      For more information on Quaternions and their use, please see this definition.

      Returns:
      Returns the imaginary portion (W) of the quaternion.

    • getQuaternionX

      public float getQuaternionX()
      Returns the real portion (X axis) of the Orientation Quaternion which fully describes the current sensor orientation with respect to the reference angle defined as the angle at which the yaw was last "zeroed".

      Each quaternion value (W,X,Y,Z) is expressed as a value ranging from -1 to 1. This total range (2) can be associated with a unit circle, since each circle is comprised of 2 PI Radians.

      For more information on Quaternions and their use, please see this description.

      Returns:
      Returns the real portion (X) of the quaternion.

    • getQuaternionY

      public float getQuaternionY()
      Returns the real portion (Y axis) of the Orientation Quaternion which fully describes the current sensor orientation with respect to the reference angle defined as the angle at which the yaw was last "zeroed". Each quaternion value (W,X,Y,Z) is expressed as a value ranging from -1 to 1. This total range (2) can be associated with a unit circle, since each circle is comprised of 2 PI Radians. For more information on Quaternions and their use, please see: https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation
      Returns:
      Returns the real portion (Y) of the quaternion.

    • getQuaternionZ

      public float getQuaternionZ()
      Returns the real portion (Z axis) of the Orientation Quaternion which fully describes the current sensor orientation with respect to the reference angle defined as the angle at which the yaw was last "zeroed". Each quaternion value (W,X,Y,Z) is expressed as a value ranging from -1 to 1. This total range (2) can be associated with a unit circle, since each circle is comprised of 2 PI Radians. For more information on Quaternions and their use, please see: https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation
      Returns:
      Returns the real portion (Z) of the quaternion.

    • resetDisplacement

      public void resetDisplacement()
      Zeros the displacement integration variables. Invoke this at the moment when integration begins.

    • updateDisplacement

      public void updateDisplacement(float accelXG, float accelYG, int updateRateHz, boolean isMoving)
      Each time new linear acceleration samples are received, this function should be invoked. This function transforms acceleration in G to meters/sec^2, then converts this value to Velocity in meters/sec (based upon velocity in the previous sample). Finally, this value is converted to displacement in meters, and integrated.
      Parameters:
      accelXG -
      accelYG -
      updateRateHz -
      isMoving -

    • configureVelocity

      public void configureVelocity(boolean swapAxes, boolean invertX, boolean invertY, boolean invertZ)
      Call this to configure swapable axes for X/Y or to invert an axis. Currently, this will also swap/invert the robot centic values.
      Parameters:
      swapAxes - Will swap X/Y Axis
      invertX - Will invert X
      invertY - Will invert Y
      invertZ - Will invert Z

    • getVelocityX

      public float getVelocityX()
      Returns the velocity (in meters/sec) of the X axis [Experimental]. NOTE: This feature is experimental. Velocity measures rely on integration of acceleration values from MEMS accelerometers which yield "noisy" values. The resulting velocities are not known to be very accurate.
      Returns:
      Current Velocity (in meters/sec).

    • getVelocityY

      public float getVelocityY()
      Returns the velocity (in meters/sec) of the Y axis [Experimental]. NOTE: This feature is experimental. Velocity measures rely on integration of acceleration values from MEMS accelerometers which yield "noisy" values. The resulting velocities are not known to be very accurate.
      Returns:
      Current Velocity (in meters/sec).

    • getVelocityZ

      public float getVelocityZ()
      Returns the velocity (in meters/sec) of the Z axis [Experimental]. NOTE: This feature is experimental. Velocity measures rely on integration of acceleration values from MEMS accelerometers which yield "noisy" values. The resulting velocities are not known to be very accurate.
      Returns:
      Current Velocity (in meters/sec).

    • getDisplacementX

      public float getDisplacementX()
      Returns the displacement (in meters) of the X axis since resetDisplacement() was last invoked [Experimental]. NOTE: This feature is experimental. Displacement measures rely on double-integration of acceleration values from MEMS accelerometers which yield "noisy" values. The resulting displacement are not known to be very accurate, and the amount of error increases quickly as time progresses.
      Returns:
      Displacement since last reset (in meters).

    • getDisplacementY

      public float getDisplacementY()
      Returns the displacement (in meters) of the Y axis since resetDisplacement() was last invoked [Experimental]. NOTE: This feature is experimental. Displacement measures rely on double-integration of acceleration values from MEMS accelerometers which yield "noisy" values. The resulting displacement are not known to be very accurate, and the amount of error increases quickly as time progresses.
      Returns:
      Displacement since last reset (in meters).

    • getDisplacementZ

      public float getDisplacementZ()
      Returns the displacement (in meters) of the Z axis since resetDisplacement() was last invoked [Experimental]. NOTE: This feature is experimental. Displacement measures rely on double-integration of acceleration values from MEMS accelerometers which yield "noisy" values. The resulting displacement are not known to be very accurate, and the amount of error increases quickly as time progresses.
      Returns:
      Displacement since last reset (in meters).

    • getRobotCentricVelocityX

      public float getRobotCentricVelocityX()
      Returns the velocity (in meters/sec) of the Robot Centric X axis [Experimental]. NOTE: This feature is experimental. Velocity measures rely on integration of acceleration values from MEMS accelerometers which yield "noisy" values. The resulting velocities are not known to be very accurate. Uses Quaternions as heading for better accuracy and avoids gimbal lock.
      Returns:
      Current Velocity (in meters/sec).

    • getRobotCentricVelocityY

      public float getRobotCentricVelocityY()
      Returns the velocity (in meters/sec) of the Robot Centric Y axis [Experimental]. NOTE: This feature is experimental. Velocity measures rely on integration of acceleration values from MEMS accelerometers which yield "noisy" values. The resulting velocities are not known to be very accurate. Uses Quaternions as heading for better accuracy and avoids gimbal lock.
      Returns:
      Current Velocity (in meters/sec).

    • getRobotCentricVelocityZ

      public float getRobotCentricVelocityZ()
      Returns the velocity (in meters/sec) of the Robot Centric Z axis [Experimental]. NOTE: This feature is experimental. Velocity measures rely on integration of acceleration values from MEMS accelerometers which yield "noisy" values. The resulting velocities are not known to be very accurate. Uses Quaternions as heading for better accuracy and avoids gimbal lock.
      Returns:
      Current Velocity (in meters/sec).

    • getAngle

      public double getAngle()
      Returns the total accumulated yaw angle (Z Axis, in degrees) reported by the sensor.

      NOTE: The angle is continuous, meaning it's range is beyond 360 degrees. This ensures that algorithms that wouldn't want to see a discontinuity in the gyro output as it sweeps past 0 on the second time around.

      Note that the returned yaw value will be offset by a user-specified offset value; this user-specified offset value is set by invoking the zeroYaw() method.

      Returns:
      The current total accumulated yaw angle (Z axis) of the robot in degrees. This heading is based on integration of the returned rate from the Z-axis (yaw) gyro.

    • getRate

      public double getRate()
      Return the rate of rotation of the yaw (Z-axis) gyro, in degrees per second.

      The rate is based on the most recent reading of the yaw gyro angle.

      Returns:
      The current rate of change in yaw angle (in degrees per second)

    • setAngleAdjustment

      public void setAngleAdjustment(double angle)
      Sets an amount of angle to be automatically added before returning a angle from the getAngle() method. This allows users of the getAngle() method to logically rotate the sensor by a given amount of degrees.

      NOTE 1: The adjustment angle is only applied to the value returned from getAngle() - it does not adjust the value returned from getYaw(), nor any of the quaternion values.

      NOTE 2: The adjustment angle is notautomatically cleared whenever the sensor yaw angle is reset.

      If not set, the default adjustment angle is 0 degrees (no adjustment).

      Parameters:
      angle - , in degrees (range: -360 to 360)

    • getAngleAdjustment

      public double getAngleAdjustment()
      Returns the currently configured adjustment angle. See setAngleAdjustment() for more details. If this method returns 0 degrees, no adjustment to the value returned via getAngle() will occur.
      Returns:
      adjustment, in degrees (range: -360 to 360)

    • reset

      public void reset()
      Reset the Yaw gyro.

      Resets the Gyro Z (Yaw) axis to a heading of zero. This can be used if there is significant drift in the gyro and it needs to be recalibrated after it has been running.

    • getRawGyroX

      public float getRawGyroX()
      Returns the current raw (unprocessed) X-axis gyro rotation rate (in degrees/sec). NOTE: this value is un-processed, and should only be accessed by advanced users. Typically, rotation about the X Axis is referred to as "Pitch". Calibrated and Integrated Pitch data is accessible via the getPitch() method.

      Returns:
      Returns the current rotation rate (in degrees/sec).

    • getRawGyroY

      public float getRawGyroY()
      Returns the current raw (unprocessed) Y-axis gyro rotation rate (in degrees/sec). NOTE: this value is un-processed, and should only be accessed by advanced users. Typically, rotation about the T Axis is referred to as "Roll". Calibrated and Integrated Pitch data is accessible via the getRoll() method.

      Returns:
      Returns the current rotation rate (in degrees/sec).

    • getRawGyroZ

      public float getRawGyroZ()
      Returns the current raw (unprocessed) Z-axis gyro rotation rate (in degrees/sec). NOTE: this value is un-processed, and should only be accessed by advanced users. Typically, rotation about the T Axis is referred to as "Yaw". Calibrated and Integrated Pitch data is accessible via the getYaw() method.

      Returns:
      Returns the current rotation rate (in degrees/sec).

    • getRawAccelX

      public float getRawAccelX()
      Returns the current raw (unprocessed) X-axis acceleration rate (in G). NOTE: this value is unprocessed, and should only be accessed by advanced users. This raw value has not had acceleration due to gravity removed from it, and has not been rotated to the world reference frame. Gravity-corrected, world reference frame-corrected X axis acceleration data is accessible via the getWorldLinearAccelX() method.

      Returns:
      Returns the current acceleration rate (in G).

    • getRawAccelY

      public float getRawAccelY()
      Returns the current raw (unprocessed) Y-axis acceleration rate (in G). NOTE: this value is unprocessed, and should only be accessed by advanced users. This raw value has not had acceleration due to gravity removed from it, and has not been rotated to the world reference frame. Gravity-corrected, world reference frame-corrected Y axis acceleration data is accessible via the getWorldLinearAccelY() method.

      Returns:
      Returns the current acceleration rate (in G).

    • getRawAccelZ

      public float getRawAccelZ()
      Returns the current raw (unprocessed) Z-axis acceleration rate (in G). NOTE: this value is unprocessed, and should only be accessed by advanced users. This raw value has not had acceleration due to gravity removed from it, and has not been rotated to the world reference frame. Gravity-corrected, world reference frame-corrected Z axis acceleration data is accessible via the getWorldLinearAccelZ() method.

      Returns:
      Returns the current acceleration rate (in G).

    • getRawMagX

      public float getRawMagX()
      Returns the current raw (unprocessed) X-axis magnetometer reading (in uTesla). NOTE: this value is unprocessed, and should only be accessed by advanced users. This raw value has not been tilt-corrected, and has not been combined with the other magnetometer axis data to yield a compass heading. Tilt-corrected compass heading data is accessible via the getCompassHeading() method.

      Returns:
      Returns the mag field strength (in uTesla).

    • getRawMagY

      public float getRawMagY()
      Returns the current raw (unprocessed) Y-axis magnetometer reading (in uTesla). NOTE: this value is unprocessed, and should only be accessed by advanced users. This raw value has not been tilt-corrected, and has not been combined with the other magnetometer axis data to yield a compass heading. Tilt-corrected compass heading data is accessible via the getCompassHeading() method.

      Returns:
      Returns the mag field strength (in uTesla).

    • getRawMagZ

      public float getRawMagZ()
      Returns the current raw (unprocessed) Z-axis magnetometer reading (in uTesla). NOTE: this value is unprocessed, and should only be accessed by advanced users. This raw value has not been tilt-corrected, and has not been combined with the other magnetometer axis data to yield a compass heading. Tilt-corrected compass heading data is accessible via the getCompassHeading() method.

      Returns:
      Returns the mag field strength (in uTesla).

    • getPressure

      public float getPressure()
      Returns the current barometric pressure (in millibar) [navX Aero only].

      This value is valid only if a barometric pressure sensor is onboard.

      Returns:
      Returns the current barometric pressure (in millibar).

    • getTempC

      public float getTempC()
      Returns the current temperature (in degrees centigrade) reported by the sensor's gyro/accelerometer circuit.

      This value may be useful in order to perform advanced temperature- correction of raw gyroscope and accelerometer values.

      Returns:
      The current temperature (in degrees centigrade).

    • getBoardYawAxis

      public AHRS.BoardYawAxis getBoardYawAxis()
      Returns information regarding which sensor board axis (X,Y or Z) and direction (up/down) is currently configured to report Yaw (Z) angle values. NOTE: If the board firmware supports Omnimount, the board yaw axis/direction are configurable.

      For more information on Omnimount, please see:

      http://navx-mxp.kauailabs.com/navx-mxp/installation/omnimount/

      Returns:
      The currently-configured board yaw axis/direction.

    • getFirmwareVersion

      public String getFirmwareVersion()
      Returns the version number of the firmware currently executing on the sensor.

      To update the firmware to the latest version, please see:

      http://navx-mxp.kauailabs.com/navx-mxp/support/updating-firmware/

      Returns:
      The firmware version in the format [MajorVersion].[MinorVersion].[Revision]

    • getActualUpdateRate

      public int getActualUpdateRate()
      Returns the navX-Model device's currently configured update rate. Note that the update rate that can actually be realized is a value evenly divisible by the navX-Model device's internal motion processor sample clock (200Hz). Therefore, the rate that is returned may be lower than the requested sample rate. The actual sample rate is rounded down to the nearest integer that is divisible by the number of Digital Motion Processor clock ticks. For instance, a request for 58 Hertz will result in an actual rate of 66Hz (200 / (200 / 58), using integer math.
      Returns:
      Returns the current actual update rate in Hz (cycles per second).

    • getRequestedUpdateRate

      public int getRequestedUpdateRate()
      Returns the currently requested update rate. rate. Note that not every update rate can actually be realized, since the actual update rate must be a value evenly divisible by the navX-Model device's internal motion processor sample clock (200Hz). To determine the actual update rate, use the getActualUpdateRate() method.
      Returns:
      Returns the requested update rate in Hz (cycles per second).

    • enableLogging

      public void enableLogging(boolean enable)
      Enables or disables logging (via Console I/O) of AHRS library internal behaviors, including events such as transient communication errors.
      Parameters:
      enable - true to enable logging; false to disable logging

    • enableBoardlevelYawReset

      public void enableBoardlevelYawReset(boolean enable)
      Enables or disables board-level yaw zero (reset) requests. Board-level yaw resets are processed by the sensor board and the resulting yaw angle may not be available to the client software until at least 2 update cycles have occurred. Board-level yaw resets however do maintain synchronization between the yaw angle and the sensor-generated Quaternion and Fused Heading values. Conversely, Software-based yaw resets occur instantaneously; however, Software- based yaw resets do not update the yaw angle component of the sensor-generated Quaternion values or the Fused Heading values.
      Parameters:
      enable - true to enable board-level yaw resets; false to enable software-based yaw resets.

    • isBoardlevelYawResetEnabled

      public boolean isBoardlevelYawResetEnabled()
      Returns true if Board-level yaw resets are enabled. Conversely, returns false if Software-based yaw resets are active.
      Returns:
      true if Board-level yaw resets are enabled; false if software-based yaw resets are active.

    • getGyroFullScaleRangeDPS

      public short getGyroFullScaleRangeDPS()
      Returns the sensor full scale range (in degrees per second) of the X, Y and X-axis gyroscopes.
      Returns:
      gyroscope full scale range in degrees/second.

    • getAccelFullScaleRangeG

      public short getAccelFullScaleRangeG()
      Returns the sensor full scale range (in G) of the X, Y and X-axis accelerometers.
      Returns:
      accelerometer full scale range in G.

    • close

      public void close()
      Specified by:
      close in interface AutoCloseable

    • initSendable

      public void initSendable(edu.wpi.first.networktables.NTSendableBuilder builder)
      Initializes smart dashboard communication
      Specified by:
      initSendable in interface edu.wpi.first.networktables.NTSendable
      Parameters:
      builder - The sendable builder which will be registered with.