okapi::IMU Class Reference

#include <IMU.hpp>

Inheritance diagram for okapi::IMU:

Public Member Functions
	IMU (std::uint8_t iport, IMUAxes iaxis=IMUAxes::z)
	An inertial sensor on the given port.
double	get () const override
	Get the current rotation about the configured axis.
double	getRemapped (double iupperBound=1800, double ilowerBound=-1800) const
	Get the current sensor value remapped into the target range ([-1800, 1800] by default).
double	getAcceleration () const
	Get the current acceleration along the configured axis.
std::int32_t	reset () override
	Reset the rotation value to zero.
std::int32_t	reset (double inewAngle)
	Resets rotation value to desired value For example, reset(0) will reset the sensor to zero.
std::int32_t	calibrate ()
	Calibrate the IMU.
double	controllerGet () override
	Get the sensor value for use in a control loop.
bool	isCalibrating () const
Public Member Functions inherited from okapi::RotarySensor
virtual	~RotarySensor ()

Protected Member Functions
double	readAngle () const
	Get the current rotation about the configured axis.

Protected Attributes
std::uint8_t	port
IMUAxes	axis
double	offset = 0

Detailed Description

Definition at line 19 of file IMU.hpp.

Constructor & Destructor Documentation

IMU()

okapi::IMU::IMU	(	std::uint8_t	iport,
		IMUAxes	iaxis = IMUAxes::z
	)

An inertial sensor on the given port.

The IMU returns an angle about the selected axis in degrees.

auto imuZ = IMU(1);
auto imuX = IMU(1, IMUAxes::x);

Parameters

iport	The port number in the range [1, 21].
iaxis	The axis of the inertial sensor to measure, default IMUAxes::z.

Member Function Documentation

calibrate()

std::int32_t okapi::IMU::calibrate

(

)

Calibrate the IMU.

Resets the rotation value to zero. Calibration is expected to take two seconds, but is bounded to five seconds.

Returns

1 or PROS_ERR.

controllerGet()

double okapi::IMU::controllerGet ( )

overridevirtual

Get the sensor value for use in a control loop.

This method might be automatically called in another thread by the controller.

Returns

The current sensor value or PROS_ERR.

Implements okapi::ControllerInput< double >.

get()

double okapi::IMU::get ( ) const

overridevirtual

Get the current rotation about the configured axis.

Returns

The current sensor value or PROS_ERR.

Implements okapi::RotarySensor.

getAcceleration()

double okapi::IMU::getAcceleration

(

)

const

Get the current acceleration along the configured axis.

Returns

The current sensor value or PROS_ERR.

getRemapped()

double okapi::IMU::getRemapped	(	double	iupperBound = 1800,
		double	ilowerBound = -1800
	)		const

Get the current sensor value remapped into the target range ([-1800, 1800] by default).

Parameters

iupperBound	The upper bound of the range.
ilowerBound	The lower bound of the range.

Returns

The remapped sensor value.

isCalibrating()

bool okapi::IMU::isCalibrating

(

)

const

Returns

Whether the IMU is calibrating.

readAngle()

double okapi::IMU::readAngle ( ) const

protected

Get the current rotation about the configured axis.

The internal offset is not accounted for or modified. This just reads from the sensor.

Returns

The current sensor value or PROS_ERR.

reset() [1/2]

std::int32_t okapi::IMU::reset ( )

overridevirtual

Reset the rotation value to zero.

Returns

1 or PROS_ERR.

Implements okapi::ContinuousRotarySensor.

reset() [2/2]

std::int32_t okapi::IMU::reset

(

double

inewAngle

)

Resets rotation value to desired value For example, reset(0) will reset the sensor to zero.

But reset(90) will reset the sensor to 90 degrees.

Parameters

inewAngle

desired reset value

Returns

1 or PROS_ERR.

Member Data Documentation

axis

IMUAxes okapi::IMU::axis

protected

Definition at line 98 of file IMU.hpp.

offset

double okapi::IMU::offset = 0

protected

Definition at line 99 of file IMU.hpp.

port

std::uint8_t okapi::IMU::port

protected

Definition at line 97 of file IMU.hpp.

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

• include/okapi/impl/device/rotarysensor/IMU.hpp