SwoLib/cshcyberhawks.swolib.hardware.implementations/Pigeon2Gyro

Pigeon2Gyro

class Pigeon2Gyro(port: Int, val pitchOffset: Double, val rollOffset: Double) : GenericGyro

A gyro that uses the Pigeon2 IMU.

Parameters

port

The port the Pigeon2 is plugged into.

pitchOffset

The offset of the pitch axis.

rollOffset

The offset of the roll axis.

Constructors

constructor(port: Int, pitchOffset: Double, rollOffset: Double)

Functions

open override fun getPitch(): Double

open override fun getRoll(): Double

open override fun getYaw(): Double

Gets the angle the gyro is currently facing.

getYawRotation2d

open override fun getYawRotation2d(): Rotation2d

open override fun mergePitchRoll(): Vector2

open override fun setYawOffset(currentPos: Double)

Sets the angle offset of the gyro to the current direction.

Properties

val gyro: Pigeon2

val pitchOffset: Double

val rollOffset: Double