#include <Canandgyro.h>

Inheritance diagram for redux::sensors::canandgyro::Canandgyro:

Collaboration diagram for redux::sensors::canandgyro::Canandgyro:

[legend]

Public Member Functions
	Canandgyro (int canID, std::string bus="halcan")

frc::Quaternion	GetQuaternion ()

frc::Rotation3d	GetRotation3d ()

frc::Rotation2d	GetRotation2d ()

void	UseDedicatedYawAngleFrame (bool use)

units::turn_t	GetYaw ()

units::turn_t	GetMultiturnYaw ()

units::turn_t	GetPitch ()

units::turn_t	GetRoll ()

units::turns_per_second_t	GetAngularVelocityRoll ()

units::turns_per_second_t	GetAngularVelocityPitch ()

units::turns_per_second_t	GetAngularVelocityYaw ()

units::standard_gravity_t	GetAccelerationX ()

units::standard_gravity_t	GetAccelerationY ()

units::standard_gravity_t	GetAccelerationZ ()

void	StartCalibration ()

bool	IsCalibrating ()

bool	WaitForCalibrationToFinish (units::second_t timeout)

bool	SetPoseRPY (units::turn_t newRoll, units::turn_t newPitch, units::turn_t newYaw, units::second_t timeout=20_ms, uint32_t retries=5)

bool	SetPoseR3D (frc::Rotation3d newPose, units::second_t timeout=20_ms, uint32_t retries=5)

bool	SetPose (frc::Quaternion newPose, units::second_t timeout=20_ms, uint32_t retries=5)

bool	SetYaw (units::turn_t yaw, units::second_t timeout=20_ms, uint32_t retries=5)

CanandgyroFaults	GetStickyFaults ()

CanandgyroFaults	GetActiveFaults ()

units::celsius_t	GetTemperature ()

CanandgyroStatus	GetStatus ()

void	ClearStickyFaults ()

void	SetPartyMode (uint8_t level)

CanandgyroSettings	GetSettings (units::second_t timeout=350_ms, units::second_t missingTimeout=20_ms, uint32_t attempts=3)

void	StartFetchSettings ()

CanandgyroSettings	GetSettingsAsync ()

CanandgyroSettings	SetSettings (CanandgyroSettings &settings, units::second_t timeout=20_ms, uint32_t attempts=3)

CanandgyroSettings	ResetFactoryDefaults (units::second_t timeout=350_ms)

redux::canand::CanandSettingsManager< CanandgyroSettings > &	GetInternalSettingsManager ()

redux::frames::Frame< units::turn_t > &	GetYawFrame ()

redux::frames::Frame< units::turn_t > &	GetMultiturnYawFrame ()

redux::frames::Frame< frc::Quaternion > &	GetAngularPositionFrame ()

redux::frames::Frame< AngularVelocity > &	GetVelocityFrame ()

redux::frames::Frame< Acceleration > &	GetAccelerationFrame ()

redux::frames::Frame< CanandgyroStatus > &	GetStatusFrame ()

void	HandleMessage (redux::canand::CanandMessage &msg) override

redux::canand::CanandAddress &	GetAddress () override

std::string	GetDeviceClassName () override

redux::canand::CanandFirmwareVersion	GetMinimumFirmwareVersion () override

Public Member Functions inherited from redux::canand::CanandDevice
bool	IsConnected (units::second_t timeout=2_s)

std::string	GetDeviceName ()

virtual void	PreHandleMessage (CanandMessage &msg)

virtual void	CheckReceivedFirmwareVersion ()

bool	SendCANMessage (uint8_t apiIndex, uint8_t *data, uint8_t length)

template<std::size_t len> requires (len < 8U)
void	SendCANMessage (uint8_t msgId, std::span< std::byte, len > data)

Protected Attributes
redux::frames::Frame< bool >	calibrating {false, 0_ms}

redux::frames::Frame< units::turn_t >	singleYaw {0.0_tr, 0_ms}

redux::frames::Frame< units::turn_t >	multiYaw {0.0_tr, 0_ms}

redux::frames::Frame< frc::Quaternion >	quat {frc::Quaternion(), 0_ms}

redux::frames::Frame< AngularVelocity >	vel {AngularVelocity{0_tps, 0_tps, 0_tps}, 0_ms}

redux::frames::Frame< Acceleration >	accel {Acceleration{0_SG, 0_SG, 0_SG}, 0_ms}

redux::frames::Frame< CanandgyroStatus >	status {CanandgyroStatus{0, 0, false, 30_degC}, 0_ms}

redux::canand::CanandSettingsManager< CanandgyroSettings >	stg {*this}

Detailed Description

Class for the CAN interface of the canandgyro.

The C++ vendordep uses the units library for all dimensioned values, including settings.

Operations that receive data from the device (position, velocity, faults, temperature) generally do not block. The object receives data asynchronously from the CAN packet receive thread and reads thus return the last data received.

Operations that set settings or change offsets will generally wait for up to 20ms by default as they will usually wait for a confirmation packet to be received in response – unless the blocking timeout is set to zero, in which case the operation swill not block.

Example code:

Canandgyro canandgyro{0}; // instantiates with device id 0 
 
// Reading angular position
canandgyro.GetYaw(); // gets the yaw (Z-axis) value in units::turn_t [-180 deg inclusive..180 deg exclusive)
                     // This is probably what you want to use for robot heading.
canandgyro.GetMultiturnYaw(); // also gets yaw, except without a wraparound
canandgyro.GetPitch(); // pitch (Y-axis) value
canandgyro.GetRoll(); // roll (X-axis) value
canandgyro.GetRotation2d(); // Z-axis Rotation2d object
canandgyro.GetRotation3d(); // Full 3d rotation object
canandgyro.GetQuaternion(); // Raw rotation quaternion object
 
// Reading angular velocity (all in rotations per second)
canandgyro.GetAngularVelocityYaw();
canandgyro.GetAngularVelocityPitch();
canandgyro.GetAngularVelocityRoll();
 
// Linear acceleration (gravitational units)
canandgyro.GetAccelerationX();
canandgyro.GetAccelerationY();
canandgyro.GetAccelerationZ();
 
// Updating pose:
canandgyro.SetYaw(0.25_tr); // set yaw to 0.25 rotations positive
 
// set roll, pitch, yaw as 0.0, 0.1, and 0.25 rotations with 20 ms timeout
canandgyro.SetPoseRPY(0.0_tr, 0.1_tr, 0.25_tr, 20_ms);
// SetPose 
 
// Manually calibrating:
// The Canandgyro automatically calibrates on boot, but you may want to force a calibration.
// Calibration takes several seconds!!!
 
canandgyro.StartCalibration(); // begin calibration
canandgyro.IsCalibrating(); // check if the gyro is still calibrating
canandgyro.WaitForCalibrationToFinish(5_s); // wait up to 5 seconds for calibration to finish.
 
// Faults
canandgyro.ClearStickyFaults(); // clears all sticky faults (including the power cycle flag). 
                                 // This call does not block.
 
 
// this flag will always be true on boot until the sticky faults have been cleared, 
// so if this prints true the encoder has rebooted sometime between ClearStickyFaults and now.
CanandgyroFaults faults = canandgyro.GetStickyFaults(); // fetches faults
fmt::print("Device rebooted: {}\n", faults.powerCycle);
 
// Timestamped data
// gets current angular position + timestamp together
auto& quatFrameData = canandgyro.GetAngularPositionFrame();
quatFrameData.GetValue(); // fetched quaternion object
quatFrameData.GetValue().W(); // fetched quaternion W component
quatFrameData.GetTimestamp(); // timestamp of the quaternion data

Constructor & Destructor Documentation

◆ Canandgyro()

redux::sensors::canandgyro::Canandgyro::Canandgyro	(	int	canID,
		std::string	bus = `"halcan"`
	)

Constructor with the device's id. This object will be constant with respect to whatever CAN id assigned to it, so if a device changes id it may change which device this object reads from.

Parameters

canID	the device id to use
bus	the message bus to use. Defaults to "halcan".

Member Function Documentation

◆ ClearStickyFaults()

void redux::sensors::canandgyro::Canandgyro::ClearStickyFaults ( )

Clears sticky faults.

It is recommended to clear this during initialization, so one can check if the encoder loses power during operation later.

This call does not block, so it may take up to the next status frame (default every 1000 ms) for the sticky faults to be updated.

◆ GetAccelerationFrame()

redux::frames::Frame< Acceleration > & redux::sensors::canandgyro::Canandgyro::GetAccelerationFrame ( )

inline

Returns the current acceleration frame, which includes CAN timestamp data.

Returns: the current acceleration frame

◆ GetAccelerationX()

units::standard_gravity_t redux::sensors::canandgyro::Canandgyro::GetAccelerationX ( )

inline

Gets the linear acceleration along the X axis.

Returns: linear acceleration

◆ GetAccelerationY()

units::standard_gravity_t redux::sensors::canandgyro::Canandgyro::GetAccelerationY ( )

inline

Gets the linear acceleration along the Y axis.

Returns: linear acceleration in Gs

◆ GetAccelerationZ()

units::standard_gravity_t redux::sensors::canandgyro::Canandgyro::GetAccelerationZ ( )

inline

Gets the linear acceleration along the Z axis.

Returns: linear acceleration

◆ GetActiveFaults()

CanandgyroFaults redux::sensors::canandgyro::Canandgyro::GetActiveFaults ( )

inline

Fetches active faults. Active faults are only active for as long as the error state exists.

Returns: canandgyroFaults of the active faults

◆ GetAddress()

redux::canand::CanandAddress & redux::sensors::canandgyro::Canandgyro::GetAddress ( )

overridevirtual

Returns the reference to the CanandAddress representing the combination of CAN bus and CAN device ID that this CanandDevice refers to.

Implementing device subclasses should likely construct a new CanandAddress in their constructor and return it here.

Returns: a reference to the CanandAddress for the device.

Implements redux::canand::CanandDevice.

◆ GetAngularPositionFrame()

redux::frames::Frame< frc::Quaternion > & redux::sensors::canandgyro::Canandgyro::GetAngularPositionFrame ( )

inline

Returns the current angular position frame, which includes CAN timestamp data.

Returns: the current angular position frame

◆ GetAngularVelocityPitch()

units::turns_per_second_t redux::sensors::canandgyro::Canandgyro::GetAngularVelocityPitch ( )

inline

Gets the angular velocity along the pitch (Y) axis.

Returns: angular velocity

◆ GetAngularVelocityRoll()

units::turns_per_second_t redux::sensors::canandgyro::Canandgyro::GetAngularVelocityRoll ( )

inline

Gets the angular velocity along the roll (X) axis.

Returns: angular velocity

◆ GetAngularVelocityYaw()

units::turns_per_second_t redux::sensors::canandgyro::Canandgyro::GetAngularVelocityYaw ( )

inline

Gets the angular velocity along the yaw (Z) axis.

Returns: angular velocity

◆ GetDeviceClassName()

std::string redux::sensors::canandgyro::Canandgyro::GetDeviceClassName ( )

inlineoverridevirtual

Returns a canonical class-wide device name.

Returns: std::string of a device type name

Reimplemented from redux::canand::CanandDevice.

◆ GetInternalSettingsManager()

redux::canand::CanandSettingsManager< CanandgyroSettings > & redux::sensors::canandgyro::Canandgyro::GetInternalSettingsManager ( )

inline

Returns the CanandSettingsManager associated with this device.

The CanandSettingsManager is an internal helper object. Teams are typically not expected to use it except for advanced cases (e.g. custom settings wrappers)

Returns: internal settings manager handle

◆ GetMinimumFirmwareVersion()

redux::canand::CanandFirmwareVersion redux::sensors::canandgyro::Canandgyro::GetMinimumFirmwareVersion ( )

inlineoverridevirtual

Returns the minimum firmware version this vendordep requires.

Returns: minimum firmware version

Reimplemented from redux::canand::CanandDevice.

◆ GetMultiturnYaw()

units::turn_t redux::sensors::canandgyro::Canandgyro::GetMultiturnYaw ( )

inline

Gets a multi-turn yaw (Z-axis) rotation that tracks to multiple continuous rotations.

Note that this relies on the dedicated multi-turn yaw packet so if it is disabled via setYawFramePeriod it will not return fresh data.

Returns: multi-turn yaw in rotational units.

◆ GetMultiturnYawFrame()

redux::frames::Frame< units::turn_t > & redux::sensors::canandgyro::Canandgyro::GetMultiturnYawFrame ( )

inline

Returns the current multi-turn yaw frame, which includes CAN timestamp data. redux::canand::FrameData objects are immutable.

Returns: the current yaw frame

◆ GetPitch()

units::turn_t redux::sensors::canandgyro::Canandgyro::GetPitch ( )

inline

Gets the pitch (Y-axis) rotation from [-0.5 rotations inclusive..0.5 exclusive).

Returns: pitch in rotational units.

◆ GetQuaternion()

frc::Quaternion redux::sensors::canandgyro::Canandgyro::GetQuaternion ( )

inline

Gets a quaternion object of the gyro's 3d rotation from the zero point

Returns: a Quaternion of the current Canandgyro pose

◆ GetRoll()

units::turn_t redux::sensors::canandgyro::Canandgyro::GetRoll ( )

inline

Gets the roll (X-axis) rotation from [-0.5 rotations inclusive..0.5 exclusive).

Returns: roll in rotational units.

◆ GetRotation2d()

frc::Rotation2d redux::sensors::canandgyro::Canandgyro::GetRotation2d ( )

inline

Gets an frc::Rotation2d object representing the rotation around the yaw axis from the zero point If you just want Z-axis rotation use GetYaw().

Returns: a Rotation2d of the current Canandgyro yaw

◆ GetRotation3d()

frc::Rotation3d redux::sensors::canandgyro::Canandgyro::GetRotation3d ( )

inline

Gets an frc::Rotation3d object of the gyro's 3d rotation from the zero point If you just want Z-axis rotation use GetYaw().

Returns: a Rotation3d of the current Canandgyro pose

◆ GetSettings()

CanandgyroSettings redux::sensors::canandgyro::Canandgyro::GetSettings	(	units::second_t	timeout = `350_ms`,
		units::second_t	missingTimeout = `20_ms`,
		uint32_t	attempts = `3`
	)

inline

Fetches the device's current configuration in a blocking manner.

This method works by requesting the device first send back all settings, and then waiting for up to a specified timeout for all settings to be received by the robot controller. If the timeout is zero, this step is skipped.

If there are settings that were not received by the timeout, then this function will attempt to individually fetched each setting for up to a specified number of attempts. If the fresh argument is true and the timeout argument is 0, then only this latter step runs, which can be used to only fetch settings that are missing from the known settings cache returned by GetSettingsAsync.

The resulting set of known (received) settings is then returned, complete or not.

This function blocks, so it is best to put this in init routines rather than a main loop.

// device declaration 
Canandgyro canandgyro{0};
 
// in your init/other sequence
CanandgyroSettings stg = canandgyro.GetSettings();
if (stg.AllSettingsReceived()) {
    // do your thing here
} else {
    // handle missing settings
}

Advanced users can use this function to retry settings missed from StartFetchSettings:

// device declaration 
Canandgyro canandgyro{0};
enc.StartFetchSettings(); // send a "fetch settings command"
 
// wait some amount of time
CanandgyroSettings stg = enc.GetSettingsAsync();
stg.AllSettingsReceived(); // may or may not be true
 
stg = enc.GetSettings(0_ms, 20_ms, 3); // Retry getitng the missing settings.
stg.AllSettingsReceived(); // far more likely to be true

Parameters

timeout	maximum number of seconds to wait for a settings operation before timing out (default 350_ms)
missingTimeout	maximum number of seconds to wait for each settings retry before giving up
attempts	number of attempts to try and fetch values missing from the first pass

Returns: Received set of CanandgyroSettings of device configuration.

◆ GetSettingsAsync()

CanandgyroSettings redux::sensors::canandgyro::Canandgyro::GetSettingsAsync ( )

inline

Non-blockingly returns a CanandgyroSettings object of the most recent known settings values received from the encoder.

Most users will probably want to use canandgyro::GetSettings() instead.

One can call this after a Canandgyro::StartFetchSettings() call, and use CanandgyroSettings::AllSettingsReceived() to check if/when all values have been seen. As an example:

// device declaration
canandgyro enc{0};
 
// somewhere in an init function
enc.StartFetchSettings();
 
// ...
// somewhere in a loop function
 
CanandgyroSettings stg = enc.GetSettingsAsync();
if (stg.AllSettingsReceived()) {
  // do something with the returned settings
  fmt::print("Device status frame period: {}\n", *stg.GetStatusFramePeriod());
}

If this is called after Canandgyro::SetSettings(), this method will return a settings object where only the fields where the device has echoed the new values back will be populated. To illustrate this, consider the following:

// device declaration
Canandgyro enc{0};
 
// somewhere in a loop 
CanandgyroSettings stg_set;
stg_set.SetStatusFramePeriod(100_ms);
enc.SetSettings(stg_set);
CanandgyroSettings stg_get = enc.GetSettingsAsync();
 
// will likely return std::nullopt, as the device likely hasn't already responded to the settings set request
stg_get.GetStatusFramePeriod();
 
// after up to 100 ms...
stg_get = enc.GetSettingsAsync();
 
// will likely be a value equivalent to 100_ms, may still be std::nullopt if the device is disconnected, so be careful of blind dereferences
stg_get.GetStatusFramePeriod();

Returns: CanandgyroSettings of currently known settings

◆ GetStatus()

CanandgyroStatus redux::sensors::canandgyro::Canandgyro::GetStatus ( )

inline

Get the contents of the previous status packet, which includes active faults, sticky faults, and temperature.

Returns: device status as a status struct

◆ GetStatusFrame()

redux::frames::Frame< CanandgyroStatus > & redux::sensors::canandgyro::Canandgyro::GetStatusFrame ( )

inline

Returns a handle to the current status frame, which includes CAN timestamp data.

Returns: the current status frame, as a CanandgyroStatus record.

◆ GetStickyFaults()

CanandgyroFaults redux::sensors::canandgyro::Canandgyro::GetStickyFaults ( )

inline

Fetches sticky faults. Sticky faults are the active faults, except once set they do not become unset until ClearStickyFaults() is called.

Returns: canandgyroFaults of the sticky faults

◆ GetTemperature()

units::celsius_t redux::sensors::canandgyro::Canandgyro::GetTemperature ( )

inline

Get onboard encoder temperature readings in degrees Celsius.

Returns: temperature in degrees Celsius

◆ GetVelocityFrame()

redux::frames::Frame< AngularVelocity > & redux::sensors::canandgyro::Canandgyro::GetVelocityFrame ( )

inline

Returns the current angular velocity frame, which includes CAN timestamp data.

Returns: the current angular velocity frame

◆ GetYaw()

units::turn_t redux::sensors::canandgyro::Canandgyro::GetYaw ( )

inline

Gets the yaw (Z-axis) rotation from [-0.5 rotations inclusive..0.5 exclusive).

This is probably the function you want to use for applications like field-centric control.

Returns: yaw in rotational units.

◆ GetYawFrame()

redux::frames::Frame< units::turn_t > & redux::sensors::canandgyro::Canandgyro::GetYawFrame ( )

inline

Returns the current single-turn yaw frame, which includes CAN timestamp data. redux::canand::FrameData objects are immutable.

Returns: the current yaw frame

◆ HandleMessage()

void redux::sensors::canandgyro::Canandgyro::HandleMessage ( redux::canand::CanandMessage & msg )

overridevirtual

A callback called when a Redux CAN message is received and should be parsed. Subclasses of CanandDevice should override this to update their internal state accordingly.

HandleMessage will be called on all Redux CAN packets received by the vendordep that match the CanandAddress returned by CanandDevice::GetAddress().

Parameters

msg	a reference to a CanandMessage representing the received message. The message may not have lifetime outside the function call.

Implements redux::canand::CanandDevice.

◆ IsCalibrating()

bool redux::sensors::canandgyro::Canandgyro::IsCalibrating ( )

inline

Returns if the Canandgyro is known to be currently calibrating.

Returns: if the Canandgyro is calibrating

◆ ResetFactoryDefaults()

CanandgyroSettings redux::sensors::canandgyro::Canandgyro::ResetFactoryDefaults ( units::second_t timeout = 350_ms )

inline

Resets the encoder to factory defaults, and then wait for all settings to be broadcasted back.

Parameters

timeout how long to wait for the new settings to be confirmed by the encoder in seconds (suggested at least 0.35 seconds)

Returns: CanandgyroSettings object of received settings. Use CanandgyroSettings.AllSettingsReceived() to verify success.

◆ SetPartyMode()

void redux::sensors::canandgyro::Canandgyro::SetPartyMode ( uint8_t level )

Controls "party mode" – an encoder identification tool that blinks the onboard LED various colors if level != 0.

This function does not block.

Parameters

level the party level value to set.

◆ SetPose()

bool redux::sensors::canandgyro::Canandgyro::SetPose	(	frc::Quaternion	newPose,
		units::second_t	timeout = `20_ms`,
		uint32_t	retries = `5`
	)

Sets a new pose without recalibrating with an frc::Quaternion.

Parameters

newPose	new quaternion pose
timeout	the timeout in seconds to wait for a pose set confirmation. Set to 0 to not check (always return true.)
retries	the number of retries for the set pose operation.

Returns: true if a pose set confirmation was received (or if timeout is zero)

◆ SetPoseR3D()

bool redux::sensors::canandgyro::Canandgyro::SetPoseR3D	(	frc::Rotation3d	newPose,
		units::second_t	timeout = `20_ms`,
		uint32_t	retries = `5`
	)

inline

Sets a new angular position without recalibrating with an frc::Rotation3d.

Parameters

newPose	new rotation3d pose
timeout	the timeout in seconds to wait for a pose set confirmation. Set to 0 to not check (always return true.)
retries	the number of retries for the set pose operation.

Returns: true if a pose set confirmation was received (or if timeout is zero)

◆ SetPoseRPY()

bool redux::sensors::canandgyro::Canandgyro::SetPoseRPY	(	units::turn_t	newRoll,
		units::turn_t	newPitch,
		units::turn_t	newYaw,
		units::second_t	timeout = `20_ms`,
		uint32_t	retries = `5`
	)

inline

Sets a new angular position pose without recalibrating with a given roll/pitch/yaw. If you just want to set yaw, use SetYaw.

Parameters

newRoll	new roll (x) pose
newPitch	new pitch (y) pose
newYaw	new yaw (z) pose
timeout	the timeout in seconds to wait for a pose set confirmation. Set to 0 to not check (always return true.)
retries	the number of retries for the set pose operation.

Returns: true if a pose set confirmation was received (or if timeout is zero)

◆ SetSettings()

CanandgyroSettings redux::sensors::canandgyro::Canandgyro::SetSettings	(	CanandgyroSettings &	settings,
		units::second_t	timeout = `20_ms`,
		uint32_t	attempts = `3`
	)

inline

Applies the settings from a CanandgyroSettings object to the Canandgyro. For more information, see the CanandgyroSettings class documentation.

Example:

CanandgyroSettings stg;
Canandgyro enc{0};
// After configuring the settings object...
 
CanandgyroSettings failed = enc.SetSettings(stg); 
if (failed.IsEmpty()) {
    // success
} else {
    // handle failed settings
}

Parameters

settings	the CanandgyroSettings to update the encoder with
timeout	maximum time in seconds to wait for each setting to be confirmed. (default 0.020s, set to 0 to not check and not block).
attempts	the maxinum number of attempts to write each individual settings

Returns: CanandgyroSettings object of unsuccessfully set settings.

◆ SetYaw()

bool redux::sensors::canandgyro::Canandgyro::SetYaw	(	units::turn_t	yaw,
		units::second_t	timeout = `20_ms`,
		uint32_t	retries = `5`
	)

Sets a new yaw without recalibrating the Canandgyro. Blocks for up to 50 milliseconds by default to confirm the transaction.

Parameters

yaw	new yaw angle in rotations
timeout	the timeout in seconds to block to confirm the transaction (set 0 to not block)
retries	the number of retries for the set pose operation.

Returns: true if a confirmation was received or the timeout is zero

◆ StartCalibration()

void redux::sensors::canandgyro::Canandgyro::StartCalibration ( )

Begins calibration on the Canandgyro.

This takes several seconds. To check the state of calibration, use IsCalibrating or WaitForCalibrationToFinish.

◆ StartFetchSettings()

void redux::sensors::canandgyro::Canandgyro::StartFetchSettings ( )

inline

Tells the Canandgyro to begin transmitting its settings; once they are all transmitted (after ~200-300ms), the values can be retrieved through the Canandgyro::GetSettingsAsync() function call

◆ UseDedicatedYawAngleFrame()

void redux::sensors::canandgyro::Canandgyro::UseDedicatedYawAngleFrame ( bool use )

inline

Sets whether this object should use the dedicated yaw message for yaw angle instead of deriving it from the pose quaternion frame.

By default this is true, as the yaw angle frame is more precise and by default more frequent.

Parameters

use	use the yaw angle

◆ WaitForCalibrationToFinish()

bool redux::sensors::canandgyro::Canandgyro::WaitForCalibrationToFinish ( units::second_t timeout )

Blocks the current thread until the Canandgyro has finished calibrating or until a timeout is reached.

Parameters

timeout the timeout in seconds to wait for a calibration confirmation.

Returns: true if the calibration has finished within the timeout, false if not.

Member Data Documentation

◆ accel

redux::frames::Frame<Acceleration> redux::sensors::canandgyro::Canandgyro::accel {Acceleration{0_SG, 0_SG, 0_SG}, 0_ms}

protected

internal Frame variable holding current acceleration state

◆ calibrating

redux::frames::Frame<bool> redux::sensors::canandgyro::Canandgyro::calibrating {false, 0_ms}

protected

internal Frame variable used to track if the device is calibrating

◆ multiYaw

redux::frames::Frame<units::turn_t> redux::sensors::canandgyro::Canandgyro::multiYaw {0.0_tr, 0_ms}

protected

internal Frame variable holding current yaw position state

◆ quat

redux::frames::Frame<frc::Quaternion> redux::sensors::canandgyro::Canandgyro::quat {frc::Quaternion(), 0_ms}

protected

internal Frame variable holding current angular position state

◆ singleYaw

redux::frames::Frame<units::turn_t> redux::sensors::canandgyro::Canandgyro::singleYaw {0.0_tr, 0_ms}

protected

internal Frame variable holding current yaw position state

◆ status

redux::frames::Frame<CanandgyroStatus> redux::sensors::canandgyro::Canandgyro::status {CanandgyroStatus{0, 0, false, 30_degC}, 0_ms}

protected

internal Frame variable holding current status value state

◆ stg

redux::canand::CanandSettingsManager<CanandgyroSettings> redux::sensors::canandgyro::Canandgyro::stg {*this}

protected

internal settings manager

◆ vel

redux::frames::Frame<AngularVelocity> redux::sensors::canandgyro::Canandgyro::vel {AngularVelocity{0_tps, 0_tps, 0_tps}, 0_ms}

protected

internal Frame variable holding current angular velocity state

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

src/main/native/include/redux/sensors/Canandgyro.h

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Canandgyro()

Member Function Documentation

◆ ClearStickyFaults()

◆ GetAccelerationFrame()

◆ GetAccelerationX()

◆ GetAccelerationY()

◆ GetAccelerationZ()

◆ GetActiveFaults()

◆ GetAddress()

◆ GetAngularPositionFrame()

◆ GetAngularVelocityPitch()

◆ GetAngularVelocityRoll()

◆ GetAngularVelocityYaw()

◆ GetDeviceClassName()

◆ GetInternalSettingsManager()

◆ GetMinimumFirmwareVersion()

◆ GetMultiturnYaw()

◆ GetMultiturnYawFrame()

◆ GetPitch()

◆ GetQuaternion()

◆ GetRoll()

◆ GetRotation2d()

◆ GetRotation3d()

◆ GetSettings()

◆ GetSettingsAsync()

◆ GetStatus()

◆ GetStatusFrame()

◆ GetStickyFaults()

◆ GetTemperature()

◆ GetVelocityFrame()

◆ GetYaw()

◆ GetYawFrame()

◆ HandleMessage()

◆ IsCalibrating()

◆ ResetFactoryDefaults()

◆ SetPartyMode()

◆ SetPose()

◆ SetPoseR3D()

◆ SetPoseRPY()

◆ SetSettings()

◆ SetYaw()

◆ StartCalibration()

◆ StartFetchSettings()

◆ UseDedicatedYawAngleFrame()

◆ WaitForCalibrationToFinish()

Member Data Documentation

◆ accel

◆ calibrating

◆ multiYaw

◆ quat

◆ singleYaw

◆ status

◆ stg

◆ vel