yams::mechanisms::config Namespace Reference

Classes
class	ArmConfig
class	ElevatorConfig
class	FlyWheelConfig
class	MechanismPositionConfig
class	PivotConfig
class	SimSensorConfig
class	SwerveModuleConfig

Enumerations
enum class	GyroAxis { ROLL , PITCH , YAW }

Functions
wpi::math::Rotation3d	ToRobotAttitude (GyroAxis axis, const wpi::math::Rotation3d &gyroAttitude)

Enumeration Type Documentation

GyroAxis

enum class yams::mechanisms::config::GyroAxis

strong

The gyro axis that points up through the robot, for a gyro that is not mounted flat.

A swerve drive needs the robot's heading, which is rotation about the axis pointing up through the robot. A gyro mounted flat reports that as its yaw. A gyro mounted on its side reports it as its roll or its pitch instead.

Enumerator
ROLL	The gyro's X axis points up. The gyro's Y axis is taken to point to the robot's left.
PITCH	The gyro's Y axis points up. The gyro's X axis is taken to point to the robot's front.
YAW	The gyro's Z axis points up: the gyro is mounted flat. This is the default.

Function Documentation

ToRobotAttitude()

wpi::math::Rotation3d yams::mechanisms::config::ToRobotAttitude ( GyroAxis  axis, const wpi::math::Rotation3d &  gyroAttitude  )

inline

Rotate a gyro's attitude into the robot's frame, so the yaw of the result is the robot's heading and its roll and pitch are the robot's tilt, whichever way the gyro is mounted.

Parameters

axis	The gyro axis that points up through the robot.
gyroAttitude	The attitude the gyro reports.

Returns

The robot's attitude.