v5::Imu class
#include <pros/imu.hpp>
Base classes
- class Device
Public static functions
- static Imu get_imu()
- Gets a IMU sensor that is plugged in to the brain.
- static std::vector<Imu> get_all_devices()
- Gets all IMU sensors.
Constructors, destructors, conversion operators
Public functions
- std::int32_t reset(bool blocking = false) const virtual
- Calibrate IMU.
- std::int32_t set_data_rate(std::uint32_t rate) const virtual
- Set the Inertial Sensor's refresh interval in milliseconds.
- double get_rotation() const virtual
- Get the total number of degrees the Inertial Sensor has spun about the z-axis.
- double get_heading() const virtual
- Get the Inertial Sensor's heading relative to the initial direction of its x-axis.
-
pros::
quaternion_s_t get_quaternion() const virtual - Get a quaternion representing the Inertial Sensor's orientation.
-
pros::
euler_s_t get_euler() const virtual - Get the Euler angles representing the Inertial Sensor's orientation.
- double get_pitch() const virtual
- Get the Inertial Sensor's pitch angle bounded by (-180,180)
- double get_roll() const virtual
- Get the Inertial Sensor's roll angle bounded by (-180,180)
- double get_yaw() const virtual
- Get the Inertial Sensor's yaw angle bounded by (-180,180)
-
pros::
imu_gyro_s_t get_gyro_rate() const virtual - Get the Inertial Sensor's raw gyroscope values.
- std::int32_t tare_rotation() const virtual
- Resets the current reading of the Inertial Sensor's rotation to zero.
- std::int32_t tare_heading() const virtual
- Resets the current reading of the Inertial Sensor's heading to zero.
- std::int32_t tare_pitch() const virtual
- Resets the current reading of the Inertial Sensor's pitch to zero.
- std::int32_t tare_yaw() const virtual
- Resets the current reading of the Inertial Sensor's yaw to zero.
- std::int32_t tare_roll() const virtual
- Resets the current reading of the Inertial Sensor's roll to zero.
- std::int32_t tare() const virtual
- Resets all 5 values of the Inertial Sensor to 0.
- std::int32_t tare_euler() const virtual
- Reset all 3 euler values of the Inertial Sensor to 0.
- std::int32_t set_heading(const double target) const virtual
- Sets the current reading of the Inertial Sensor's heading to target value Target will default to 360 if above 360 and default to 0 if below 0.
- std::int32_t set_rotation(const double target) const virtual
- Sets the current reading of the Inertial Sensor's rotation to target value.
- std::int32_t set_yaw(const double target) const virtual
- Sets the current reading of the Inertial Sensor's yaw to target value Will default to +/- 180 if target exceeds +/- 180.
- std::int32_t set_pitch(const double target) const virtual
- Sets the current reading of the Inertial Sensor's pitch to target value.
- std::int32_t set_roll(const double target) const virtual
- Sets the current reading of the Inertial Sensor's roll to target value Will default to +/- 180 if target exceeds +/- 180.
-
std::int32_t set_euler(const pros::
euler_s_t target) const virtual - Sets the current reading of the Inertial Sensor's euler values to target euler values.
-
pros::
imu_accel_s_t get_accel() const virtual - Get the Inertial Sensor's raw accelerometer values.
-
pros::
ImuStatus get_status() const virtual - Get the Inertial Sensor's status.
- bool is_calibrating() const virtual
- Check whether the IMU is calibrating.
- imu_orientation_e_t get_physical_orientation() const virtual
- Returns the physical orientation of the IMU.
Friends
-
std::ostream& operator<<(std::ostream& os,
const pros::
Imu& imu) - This is the overload for the << operator for printing to streams.