Package com.marslib.swerve

Class GyroIOPigeon2

java.lang.Object

com.marslib.swerve.GyroIOPigeon2

All Implemented Interfaces:

GyroIO

public class GyroIOPigeon2
extends Object
implements GyroIO

Real hardware implementation of the gyro IO layer using a CTRE Pigeon2 IMU.

Students: The Pigeon2 is a 3-axis gyroscope connected over CAN bus. This class reads the yaw (heading) at 250Hz for high-frequency odometry and the yaw velocity at 100Hz for general telemetry.

Nested Class Summary

Nested classes/interfaces inherited from interface com.marslib.swerve.GyroIO

GyroIO.GyroIOInputs

Constructor Summary

Constructors

Constructor	Description
GyroIOPigeon2(int canId, String canbus, SwerveConfig config)	Constructs a Pigeon2 gyro IO layer.

Method Summary

Modifier and Type	Method	Description
void	updateInputs(GyroIO.GyroIOInputs inputs)	Updates the set of loggable inputs.

Methods inherited from class java.lang.Object

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

Constructor Details

GyroIOPigeon2

public GyroIOPigeon2(int canId,
 String canbus,
 SwerveConfig config)

Constructs a Pigeon2 gyro IO layer.

Parameters:

canId - The CAN ID of the Pigeon2.

canbus - The CAN bus name (e.g. "rio" or "canivore").

Method Details

updateInputs

public void updateInputs(GyroIO.GyroIOInputs inputs)

Description copied from interface: GyroIO

Updates the set of loggable inputs.

Specified by:

updateInputs in interface GyroIO