#include <Navx.h>

Public Types
enum class	Port : int { kUSB1 = 2 , kUSB2 = 3 }
	Enum for the user to select which USB port they connect the. More...

Public Member Functions
	Navx (int deviceId)
	NavX3 object constructor with default 100Hz update rate.
	Navx (Port port)
	NavX3 object constructor for USB communication with default 100Hz update rate.
	Navx (int deviceId, int updateRate)
	NavX3 object constructor with custom update rate.
	Navx (Port port, int updateRate)
	NavX3 object constructor for USB communication.
	Navx (Navx &&)=default
Navx &	operator= (Navx &&)=default
	~Navx ()
	Default destructor.
units::degree_t	GetYaw ()
	Gets the converted yaw angle from the IMU filtering algorithm.
units::degree_t	GetPitch ()
	Gets the converted pitch angle from the IMU filtering algorithm.
units::degree_t	GetRoll ()
	Gets the converted roll angle from the IMU filtering algorithm.
units::degree_t	GetAngle ()
	Gets the converted continous angle from the IMU filtering algorithm.
bool	GetAlgoStates (float states[9])
	Get selected filtering algorithm parameters to observe settings or calibration.
bool	EnableOptionalMessages (bool yaw, bool angle, bool quat6d, bool quat9d, bool algoStates, bool pitchRoll, bool angularVel, bool linearAccel, bool compass, bool temperature)
	Used to pick what sort of data is needed to be sent via the CAN bus.
bool	GetQuat6D (frc::Quaternion &quat)
	Get 6-axis quaternions from filter i.e.
bool	GetQuat9D (frc::Quaternion &quat)
	Get 9-axis quaternions from filter i.e.
bool	GetRotation2D (frc::Rotation2d &rotation)
	Get the heading of the robot as a Rotation2d.
bool	GetRotation3D (frc::Rotation3d &rotation)
	Constructs a Rotation3d from the NavX Quaternion.
bool	GetAngularVel (units::degrees_per_second_t &x, units::degrees_per_second_t &y, units::degrees_per_second_t &z)
	Get angular velocity measurements from the gyroscope when not at rest.
bool	GetLinearAccel (units::meters_per_second_squared_t &x, units::meters_per_second_squared_t &y, units::meters_per_second_squared_t &z)
	Get linear acceleration measurements from the accelerometer when not at rest.
bool	GetCompass (units::tesla_t &x, units::tesla_t &y, units::tesla_t &z, units::tesla_t &norm)
	Get yaw offset magnetic field values from the magnetometer.
bool	SelfTest (int ret[8])
	Trigger IMU self test functionality on gyroscope and accelerometer unit.
bool	ResetYaw ()
	Reset IMU Yaw back to 0.
bool	SetODRHz (uint16_t odr_hz)
	Set the CAN and USB user data output rate, must be less than 1000Hz (IMU update rate).
bool	GetSensorUUID (int uuid[3])
	Get internal sensor UUID.
units::celsius_t	GetTemperature ()
	Get the gyroscope chip temperature.
bool	Enable9DYaw (bool enable)
	Enable Yaw to use 9D instead of 6D.

Member Enumeration Documentation

◆ Port

enum class studica::Navx::Port : int

strong

Enum for the user to select which USB port they connect the.

Enumerator
kUSB1
kUSB2

Constructor & Destructor Documentation

◆ Navx() [1/5]

Navx::Navx ( int deviceId )

explicit

NavX3 object constructor with default 100Hz update rate.

Parameters

[in] deviceId CAN ID of the IMU.

◆ Navx() [2/5]

Navx::Navx ( Port port )

explicit

NavX3 object constructor for USB communication with default 100Hz update rate.

Parameters

[in] port The USB port in use

◆ Navx() [3/5]

Navx::Navx	(	int	deviceId,
		int	updateRate )

NavX3 object constructor with custom update rate.

Parameters

[in]	deviceId	CAN ID of the IMU.
[in]	updateRate	CAN message output rate.

◆ Navx() [4/5]

Navx::Navx	(	Port	port,
		int	updateRate )

NavX3 object constructor for USB communication.

Parameters

[in]	port	The USB port in use
[in]	updateRate	USB update rate

◆ Navx() [5/5]

studica::Navx::Navx ( Navx && )

default

◆ ~Navx()

Navx::~Navx ( )

Default destructor.

Member Function Documentation

◆ Enable9DYaw()

bool Navx::Enable9DYaw ( bool enable )

Enable Yaw to use 9D instead of 6D.

Returns: true on error

◆ EnableOptionalMessages()

bool Navx::EnableOptionalMessages	(	bool	yaw,
		bool	angle,
		bool	quat6d,
		bool	quat9d,
		bool	algoStates,
		bool	pitchRoll,
		bool	angularVel,
		bool	linearAccel,
		bool	compass,
		bool	temperature )

Used to pick what sort of data is needed to be sent via the CAN bus.

Parameters

yaw	Boolean value to enable yaw messages.
angle	Boolean value to enable angle messages.
quat6d	Boolean value to enable 6-axis quaternion messages.
quat9d	Boolean value to enable 9-axis quaternion messages.
algoStates	Boolean value to enable algorithm states messages.
pitchRoll	Boolean value to enable pitch and roll messages.
angularVel	Boolean value to enable angular velocity messages.
linearAccel	Boolean value to enable linear acceleration messages.
compass	Boolean value to enable mag compass measurement messages.
temperature	Boolean value to enable temperature messages.

Returns: true on error

◆ GetAlgoStates()

bool Navx::GetAlgoStates ( float states[9] )

Get selected filtering algorithm parameters to observe settings or calibration.

Parameters

[out]

states

Array of 9 elements:

[0..2] Estimated gyroscope bias (x,y,z)
[3] 1 if detected at rest, else 0
[4] 1 if no magnetic disturbance, else 0
[5] mag_ref_norm
[6] mag_candidate_norm
[7] mag_ref_dip
[8] mag_candidate_dip

Returns: true on error

◆ GetAngle()

units::degree_t Navx::GetAngle ( )

Gets the converted continous angle from the IMU filtering algorithm.

Returns: The angle in degrees (typically infinite). A NaN indicates an error.

◆ GetAngularVel()

bool Navx::GetAngularVel	(	units::degrees_per_second_t &	x,
		units::degrees_per_second_t &	y,
		units::degrees_per_second_t &	z )

Get angular velocity measurements from the gyroscope when not at rest.

Parameters

[out]	x	X-axis angluar velocity.
[out]	y	Y-axis angluar velocity.
[out]	z	Z-axis angluar velocity.

Returns: true on error

◆ GetCompass()

bool Navx::GetCompass	(	units::tesla_t &	x,
		units::tesla_t &	y,
		units::tesla_t &	z,
		units::tesla_t &	norm )

Get yaw offset magnetic field values from the magnetometer.

Parameters

[out]	x	X-axis magnetic flux density.
[out]	y	X-axis magnetic flux density.
[out]	z	X-axis magnetic flux density.
[out]	norm	Field vector magnitude.

Returns: true on error

◆ GetLinearAccel()

bool Navx::GetLinearAccel	(	units::meters_per_second_squared_t &	x,
		units::meters_per_second_squared_t &	y,
		units::meters_per_second_squared_t &	z )

Get linear acceleration measurements from the accelerometer when not at rest.

Parameters

[out]	x	X-axis acceleration.
[out]	y	Y-axis acceleration.
[out]	z	Z-axis acceleration.

Returns: true on error

◆ GetPitch()

units::degree_t Navx::GetPitch ( )

Gets the converted pitch angle from the IMU filtering algorithm.

Returns: The pitch angle in degrees (typically between [90 and -90]). A value of 360 deg indicates an error.

◆ GetQuat6D()

bool Navx::GetQuat6D ( frc::Quaternion & quat )

Get 6-axis quaternions from filter i.e.

without mag integration.

Parameters

[out] quat Output quaternion {w, x, y, z}.

Returns: true on error

◆ GetQuat9D()

bool Navx::GetQuat9D ( frc::Quaternion & quat )

Get 9-axis quaternions from filter i.e.

with mag integration included.

Parameters

[out] quat Output quaternion {w, x, y, z}.

Returns: true on error

◆ GetRoll()

units::degree_t Navx::GetRoll ( )

Gets the converted roll angle from the IMU filtering algorithm.

Returns: The roll angle in degrees (typically between [180 and -180]). A value of 360 deg indicates an error.

◆ GetRotation2D()

bool Navx::GetRotation2D ( frc::Rotation2d & rotation )

Get the heading of the robot as a Rotation2d.

Parameters

[out] rotation Output heading.

Returns: true on error

◆ GetRotation3D()

bool Navx::GetRotation3D ( frc::Rotation3d & rotation )

Constructs a Rotation3d from the NavX Quaternion.

Parameters

[out] rotation Output rotation.

Returns: true on error

◆ GetSensorUUID()

bool Navx::GetSensorUUID ( int uuid[3] )

Get internal sensor UUID.

Parameters

[out] uuid Retrieved 96-bit UUID

Returns: true on error

◆ GetTemperature()

units::celsius_t Navx::GetTemperature ( )

Get the gyroscope chip temperature.

Returns: The temperature in C.

◆ GetYaw()

units::degree_t Navx::GetYaw ( )

Gets the converted yaw angle from the IMU filtering algorithm.

Returns: The yaw angle in degrees (typically between [180 and -180]). A value of 360 deg indicates an error.

◆ operator=()

Navx & studica::Navx::operator= ( Navx && )

default

◆ ResetYaw()

bool Navx::ResetYaw ( )

Reset IMU Yaw back to 0.

Returns: true on error

◆ SelfTest()

bool Navx::SelfTest ( int ret[8] )

Trigger IMU self test functionality on gyroscope and accelerometer unit.

Parameters

[out]

ret

Array of 8 elements:

[0] Gyroscope status.
[1..3] Gyroscope status (x,y,z).
[4] Accelerometer status.
[5..7] Accelerometer status (x,y,z).

Returns: true on error

◆ SetODRHz()

bool Navx::SetODRHz ( uint16_t odr_hz )

Set the CAN and USB user data output rate, must be less than 1000Hz (IMU update rate).

Returns: true on error

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

src/main/native/include/studica/Navx.h
src/main/native/cpp/Navx.cpp

Public Types

Public Member Functions

Member Enumeration Documentation

◆ Port

Constructor & Destructor Documentation

◆ Navx() [1/5]

◆ Navx() [2/5]

◆ Navx() [3/5]

◆ Navx() [4/5]

◆ Navx() [5/5]

◆ ~Navx()

Member Function Documentation

◆ Enable9DYaw()

◆ EnableOptionalMessages()

◆ GetAlgoStates()

◆ GetAngle()

◆ GetAngularVel()

◆ GetCompass()

◆ GetLinearAccel()

◆ GetPitch()

◆ GetQuat6D()

◆ GetQuat9D()

◆ GetRoll()

◆ GetRotation2D()

◆ GetRotation3D()

◆ GetSensorUUID()

◆ GetTemperature()

◆ GetYaw()

◆ operator=()

◆ ResetYaw()

◆ SelfTest()

◆ SetODRHz()