Package ftclib.archive

Class FtcMRGyro

java.lang.Object

trclib.sensor.TrcSensor<TrcGyro.DataType>

trclib.sensor.TrcGyro

ftclib.archive.FtcMRGyro

All Implemented Interfaces:

TrcOdometrySensor

public class FtcMRGyro
extends TrcGyro

This class implements the Modern Robotics gyro extending TrcGyro. It provides implementation of the abstract methods in TrcGyro. The Modern Robotics gyro supports 3 axes: x, y and z. It provides rotation rate data for all 3 axes. However, it only provides heading data for the z-axis and the heading data is wrap-around.

Nested Class Summary

Nested classes/interfaces inherited from class trclib.sensor.TrcGyro

TrcGyro.DataType, TrcGyro.GyroData

Nested classes/interfaces inherited from class trclib.sensor.TrcSensor

TrcSensor.DataSource<D>, TrcSensor.SensorData<T>

Nested classes/interfaces inherited from interface trclib.sensor.TrcOdometrySensor

TrcOdometrySensor.Odometry

Field Summary

Fields

Modifier and Type	Field	Description
private final com.qualcomm.hardware.modernrobotics.ModernRoboticsI2cGyro	gyro

Fields inherited from class trclib.sensor.TrcGyro

GYRO_HAS_X_AXIS, GYRO_HAS_Y_AXIS, GYRO_HAS_Z_AXIS, GYRO_INTEGRATE

Fields inherited from class trclib.sensor.TrcSensor

instanceName, tracer

Constructor Summary

Constructors

Constructor	Description
FtcMRGyro(com.qualcomm.robotcore.hardware.HardwareMap hardwareMap, String instanceName, TrcFilter[] filters)	Constructor: Creates an instance of the object.
FtcMRGyro(String instanceName)	Constructor: Creates an instance of the object.
FtcMRGyro(String instanceName, TrcFilter[] filters)	Constructor: Creates an instance of the object.

Method Summary

Modifier and Type	Method	Description
void	calibrate()	This method calibrates the sensor.
TrcSensor.SensorData<Double>	getRawXData(TrcGyro.DataType dataType)	This method returns the raw data of the specified type for the x-axis.
TrcSensor.SensorData<Double>	getRawYData(TrcGyro.DataType dataType)	This method returns the raw data of the specified type for the y-axis.
TrcSensor.SensorData<Double>	getRawZData(TrcGyro.DataType dataType)	This method returns the raw data of the specified type for the z-axis.
void	resetXIntegrator()	This method overrides the TrcGyro class.
void	resetYIntegrator()	This method overrides the TrcGyro class.
void	resetZIntegrator()	This method overrides the TrcGyro class and calls its own.

Methods inherited from class trclib.sensor.TrcGyro

getName, getOdometry, getRawData, getXHeading, getXRotationRate, getYHeading, getYRotationRate, getZHeading, getZRotationRate, printElapsedTime, resetOdometry, resetXWrapValueConverter, resetYWrapValueConverter, resetZWrapValueConverter, setElapsedTimerEnabled, setEnabled, setXInverted, setXScale, setXValueRange, setYInverted, setYScale, setYValueRange, setZInverted, setZScale, setZValueRange, toString

Methods inherited from class trclib.sensor.TrcSensor

calibrate, calibrate, getNumAxes, getProcessedData, isCalibrating, setInverted, setScale, setScaleAndOffset

Methods inherited from class java.lang.Object

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

Methods inherited from interface trclib.sensor.TrcOdometrySensor

getOdometries, getOdometry

Field Details

gyro

private final com.qualcomm.hardware.modernrobotics.ModernRoboticsI2cGyro gyro

Constructor Details

FtcMRGyro

public FtcMRGyro(com.qualcomm.robotcore.hardware.HardwareMap hardwareMap,
 String instanceName,
 TrcFilter[] filters)

Constructor: Creates an instance of the object.

Parameters:

hardwareMap - specifies the global hardware map.

instanceName - specifies the instance name.

filters - specifies an array of filters to use for filtering sensor noise, one for each axis. Since we have 3 axes, the array should have 3 elements. If no filters are used, it can be set to null.

FtcMRGyro

public FtcMRGyro(String instanceName,
 TrcFilter[] filters)

Constructor: Creates an instance of the object.

Parameters:

instanceName - specifies the instance name.

filters - specifies an array of filters to use for filtering sensor noise, one for each axis. Since we have 3 axes, the array should have 3 elements. If no filters are used, it can be set to null.

FtcMRGyro

public FtcMRGyro(String instanceName)

Constructor: Creates an instance of the object.

Parameters:

instanceName - specifies the instance name.

Method Details

calibrate

public void calibrate()

This method calibrates the sensor.

resetXIntegrator

public void resetXIntegrator()

This method overrides the TrcGyro class. It doesn't have an x-integrator.

Overrides:

resetXIntegrator in class TrcGyro

resetYIntegrator

public void resetYIntegrator()

This method overrides the TrcGyro class. It doesn't have an y-integrator.

Overrides:

resetYIntegrator in class TrcGyro

resetZIntegrator

public void resetZIntegrator()

This method overrides the TrcGyro class and calls its own.

Overrides:

resetZIntegrator in class TrcGyro

getRawXData

public TrcSensor.SensorData<Double> getRawXData(TrcGyro.DataType dataType)

This method returns the raw data of the specified type for the x-axis.

Specified by:

getRawXData in class TrcGyro

Parameters:

dataType - specifies the data type.

Returns:

raw data of the specified type for the x-axis.

getRawYData

public TrcSensor.SensorData<Double> getRawYData(TrcGyro.DataType dataType)

This method returns the raw data of the specified type for the y-axis.

Specified by:

getRawYData in class TrcGyro

Parameters:

dataType - specifies the data type.

Returns:

raw data of the specified type for the y-axis.

getRawZData

public TrcSensor.SensorData<Double> getRawZData(TrcGyro.DataType dataType)

This method returns the raw data of the specified type for the z-axis.

Specified by:

getRawZData in class TrcGyro

Parameters:

dataType - specifies the data type.

Returns:

raw data of the specified type for the z-axis.