Package edu.wpi.first.wpilibj.simulation
Class ADIS16448_IMUSim
- java.lang.Object
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- edu.wpi.first.wpilibj.simulation.ADIS16448_IMUSim
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public class ADIS16448_IMUSim extends Object
Class to control a simulated ADIS16448 gyroscope.
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Constructor Summary
Constructors Constructor Description ADIS16448_IMUSim(ADIS16448_IMU gyro)
Constructs from an ADIS16448_IMU object.
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Method Summary
All Methods Instance Methods Concrete Methods Modifier and Type Method Description void
setAccelX(double accelMetersPerSecondSquared)
Sets the X axis acceleration in meters per second squared.void
setAccelY(double accelMetersPerSecondSquared)
Sets the Y axis acceleration in meters per second squared.void
setAccelZ(double accelMetersPerSecondSquared)
Sets the Z axis acceleration in meters per second squared.void
setGyroAngleX(double angleDegrees)
Sets the X axis angle in degrees (CCW positive).void
setGyroAngleY(double angleDegrees)
Sets the Y axis angle in degrees (CCW positive).void
setGyroAngleZ(double angleDegrees)
Sets the Z axis angle in degrees (CCW positive).void
setGyroRateX(double angularRateDegreesPerSecond)
Sets the X axis angle in degrees per second (CCW positive).void
setGyroRateY(double angularRateDegreesPerSecond)
Sets the Y axis angle in degrees per second (CCW positive).void
setGyroRateZ(double angularRateDegreesPerSecond)
Sets the Z axis angle in degrees per second (CCW positive).
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Constructor Detail
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ADIS16448_IMUSim
public ADIS16448_IMUSim(ADIS16448_IMU gyro)
Constructs from an ADIS16448_IMU object.- Parameters:
gyro
- ADIS16448_IMU to simulate
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Method Detail
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setGyroAngleX
public void setGyroAngleX(double angleDegrees)
Sets the X axis angle in degrees (CCW positive).- Parameters:
angleDegrees
- The angle.
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setGyroAngleY
public void setGyroAngleY(double angleDegrees)
Sets the Y axis angle in degrees (CCW positive).- Parameters:
angleDegrees
- The angle.
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setGyroAngleZ
public void setGyroAngleZ(double angleDegrees)
Sets the Z axis angle in degrees (CCW positive).- Parameters:
angleDegrees
- The angle.
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setGyroRateX
public void setGyroRateX(double angularRateDegreesPerSecond)
Sets the X axis angle in degrees per second (CCW positive).- Parameters:
angularRateDegreesPerSecond
- The angular rate.
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setGyroRateY
public void setGyroRateY(double angularRateDegreesPerSecond)
Sets the Y axis angle in degrees per second (CCW positive).- Parameters:
angularRateDegreesPerSecond
- The angular rate.
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setGyroRateZ
public void setGyroRateZ(double angularRateDegreesPerSecond)
Sets the Z axis angle in degrees per second (CCW positive).- Parameters:
angularRateDegreesPerSecond
- The angular rate.
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setAccelX
public void setAccelX(double accelMetersPerSecondSquared)
Sets the X axis acceleration in meters per second squared.- Parameters:
accelMetersPerSecondSquared
- The acceleration.
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setAccelY
public void setAccelY(double accelMetersPerSecondSquared)
Sets the Y axis acceleration in meters per second squared.- Parameters:
accelMetersPerSecondSquared
- The acceleration.
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setAccelZ
public void setAccelZ(double accelMetersPerSecondSquared)
Sets the Z axis acceleration in meters per second squared.- Parameters:
accelMetersPerSecondSquared
- The acceleration.
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