Class NavxJNI

java.lang.Object
com.studica.frc.jni.StudicaJNIWrapper
com.studica.frc.jni.NavxJNI
public final class NavxJNI extends StudicaJNIWrapper
Raw JNI bindings for the NavX3 driver. Use Navx instead.

Create methods return a positive handle, or a negative status code on failure. Other methods return a status code (0 on success) unless noted.

  • Nested Class Summary

    Nested classes/interfaces inherited from class StudicaJNIWrapper

    StudicaJNIWrapper.Helper

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    static final int
    ANGLE
    Index of continuous angle, degrees.
    static final int
    ANGULAR_VEL
    Index of angular velocity (3 values: x y z), rad/s.
    static final int
    AT_REST
    Index of the at-rest flag (0 or 1).
    static final int
    DATA_SIZE
    Minimum length of the array passed to getData().
    static final int
    GYRO_BIAS
    Index of the gyro bias estimate (3 values: x y z).
    static final int
    LINEAR_ACCEL
    Index of linear acceleration (3 values: x y z), m/s^2.
    static final int
    MAG
    Index of the magnetic field (4 values: x y z norm), microtesla.
    static final int
    MAG_CANDIDATE_DIP
    Index of the candidate magnetic dip angle.
    static final int
    MAG_CANDIDATE_NORM
    Index of the candidate magnetic field magnitude.
    static final int
    MAG_REF_DIP
    Index of the reference magnetic dip angle.
    static final int
    MAG_REF_NORM
    Index of the reference magnetic field magnitude.
    static final int
    MAG_UNDISTURBED
    Index of the magnetometer-undisturbed flag (0 or 1).
    static final int
    PITCH
    Index of pitch, degrees.
    static final int
    QUAT6
    Index of the 6-axis quaternion (4 values: w x y z).
    static final int
    QUAT9
    Index of the 9-axis quaternion (4 values: w x y z).
    static final int
    ROLL
    Index of roll, degrees.
    static final int
    TEMPERATURE
    Index of the temperature, Celsius.
    static final int
    TIME_SYNCED
    Index of 1 if TIMESTAMP_NS is the measurement time, else 0.
    static final int
    TIMESTAMP_NS
    Index of the newest sample's robot time, nanoseconds (see STUDICA_NavxData).
    static final int
    USB_ANY
    For createUsb: the NavX3 on any USB port.
    static final int
    YAW
    Index of yaw, degrees.

  • Method Summary

    Modifier and Type
    Method
    Description
    static int
    createCan(int busId, int deviceId, int updateRateHz)
    Opens a NavX3 on CAN.
    static int
    createSerial(String devicePath, int updateRateHz)
    Opens a NavX3 on a serial device path.
    static int
    createUsb(int usbPort, int updateRateHz)
    Opens a NavX3 on USB.
    static void
    destroy(int handle)
    Closes a device.
    static int
    enableMessages(int handle, int mask)
    Chooses which message groups stream.
    static int
    getData(int handle, double[] out)
    Fills out (at least DATA_SIZE long) with the latest data.
    static int
    getFirmwareVersion(int handle, int[] out)
    Reads the firmware version.
    static int
    getSensorUuid(int handle, int[] out)
    Reads the 96-bit sensor ID.
    static boolean
    isConnected(int handle)
    Returns whether data arrived recently.
    static int
    resetYaw(int handle)
    Resets yaw to zero.
    static int
    selfTest(int handle, int[] out)
    Runs the IMU self test.
    static int
    setOutputRate(int handle, int hz)
    Sets the output data rate.
    static int
    setYawAxes(int handle, int axes)
    Selects 6-axis or 9-axis yaw.

    Methods inherited from class StudicaJNIWrapper

    forceLoad

    Methods inherited from class Object

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

  • Field Details

    • YAW

      public static final int YAW
      Index of yaw, degrees.
      See Also:

    • PITCH

      public static final int PITCH
      Index of pitch, degrees.
      See Also:

    • ROLL

      public static final int ROLL
      Index of roll, degrees.
      See Also:

    • ANGLE

      public static final int ANGLE
      Index of continuous angle, degrees.
      See Also:

    • QUAT6

      public static final int QUAT6
      Index of the 6-axis quaternion (4 values: w x y z).
      See Also:

    • QUAT9

      public static final int QUAT9
      Index of the 9-axis quaternion (4 values: w x y z).
      See Also:

    • ANGULAR_VEL

      public static final int ANGULAR_VEL
      Index of angular velocity (3 values: x y z), rad/s.
      See Also:

    • LINEAR_ACCEL

      public static final int LINEAR_ACCEL
      Index of linear acceleration (3 values: x y z), m/s^2.
      See Also:

    • MAG

      public static final int MAG
      Index of the magnetic field (4 values: x y z norm), microtesla.
      See Also:

    • GYRO_BIAS

      public static final int GYRO_BIAS
      Index of the gyro bias estimate (3 values: x y z).
      See Also:

    • AT_REST

      public static final int AT_REST
      Index of the at-rest flag (0 or 1).
      See Also:

    • MAG_UNDISTURBED

      public static final int MAG_UNDISTURBED
      Index of the magnetometer-undisturbed flag (0 or 1).
      See Also:

    • MAG_REF_NORM

      public static final int MAG_REF_NORM
      Index of the reference magnetic field magnitude.
      See Also:

    • MAG_CANDIDATE_NORM

      public static final int MAG_CANDIDATE_NORM
      Index of the candidate magnetic field magnitude.
      See Also:

    • MAG_REF_DIP

      public static final int MAG_REF_DIP
      Index of the reference magnetic dip angle.
      See Also:

    • MAG_CANDIDATE_DIP

      public static final int MAG_CANDIDATE_DIP
      Index of the candidate magnetic dip angle.
      See Also:

    • TEMPERATURE

      public static final int TEMPERATURE
      Index of the temperature, Celsius.
      See Also:

    • TIMESTAMP_NS

      public static final int TIMESTAMP_NS
      Index of the newest sample's robot time, nanoseconds (see STUDICA_NavxData).
      See Also:

    • TIME_SYNCED

      public static final int TIME_SYNCED
      Index of 1 if TIMESTAMP_NS is the measurement time, else 0.
      See Also:

    • DATA_SIZE

      public static final int DATA_SIZE
      Minimum length of the array passed to getData().
      See Also:

    • USB_ANY

      public static final int USB_ANY
      For createUsb: the NavX3 on any USB port.
      See Also:

  • Method Details

    • createCan

      public static int createCan(int busId, int deviceId, int updateRateHz)
      Opens a NavX3 on CAN.
      Parameters:
      busId - CAN bus index
      deviceId - CAN device ID, 0-63
      updateRateHz - output data rate, 1-200 Hz
      Returns:
      a handle, or a negative status code

    • createUsb

      public static int createUsb(int usbPort, int updateRateHz)
      Opens a NavX3 on USB.
      Parameters:
      usbPort - SystemCore USB port label 0-3, or USB_ANY
      updateRateHz - output data rate, 1-200 Hz
      Returns:
      a handle, or a negative status code

    • createSerial

      public static int createSerial(String devicePath, int updateRateHz)
      Opens a NavX3 on a serial device path.
      Parameters:
      devicePath - e.g. "/dev/ttyACM0"
      updateRateHz - output data rate, 1-200 Hz
      Returns:
      a handle, or a negative status code

    • destroy

      public static void destroy(int handle)
      Closes a device. Safe with an invalid handle.
      Parameters:
      handle - the device

    • isConnected

      public static boolean isConnected(int handle)
      Returns whether data arrived recently.
      Parameters:
      handle - the device
      Returns:
      true if connected

    • getData

      public static int getData(int handle, double[] out)
      Fills out (at least DATA_SIZE long) with the latest data.
      Parameters:
      handle - the device
      out - destination array, laid out by the index constants
      Returns:
      the mask of fresh message groups, or a negative status code

    • resetYaw

      public static int resetYaw(int handle)
      Resets yaw to zero.
      Parameters:
      handle - the device
      Returns:
      status code

    • setOutputRate

      public static int setOutputRate(int handle, int hz)
      Sets the output data rate.
      Parameters:
      handle - the device
      hz - rate, 1-200 Hz
      Returns:
      status code

    • enableMessages

      public static int enableMessages(int handle, int mask)
      Chooses which message groups stream.
      Parameters:
      handle - the device
      mask - message group bits
      Returns:
      status code

    • setYawAxes

      public static int setYawAxes(int handle, int axes)
      Selects 6-axis or 9-axis yaw.
      Parameters:
      handle - the device
      axes - 6 or 9
      Returns:
      status code

    • getFirmwareVersion

      public static int getFirmwareVersion(int handle, int[] out)
      Reads the firmware version.
      Parameters:
      handle - the device
      out - receives major, minor, patch
      Returns:
      status code

    • getSensorUuid

      public static int getSensorUuid(int handle, int[] out)
      Reads the 96-bit sensor ID.
      Parameters:
      handle - the device
      out - receives three words
      Returns:
      status code

    • selfTest

      public static int selfTest(int handle, int[] out)
      Runs the IMU self test.
      Parameters:
      handle - the device
      out - receives 8 result codes
      Returns:
      status code