fix(hardware/gyro): implement getRate() function

frc5183 · Oct 14, 2024 · ed1a44c · ed1a44c
1 parent 9669e48
commit ed1a44c
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Showing 4 changed files with 21 additions and 0 deletions.
diff --git a/src/main/java/net/frc5183/librobot/hardware/gyro/ADIS16448IMU.java b/src/main/java/net/frc5183/librobot/hardware/gyro/ADIS16448IMU.java
@@ -114,6 +114,11 @@ public double getRawAngleRadians(CartesianAxis axis) {
         );
     }
 
+    @Override
+    public double getRate() {
+        return imu.getRate();
+    }
+
     @Override
     public @NotNull Translation3d getAccelerationMetersPerSecondSquared() {
         return new Translation3d(imu.getAccelX(), imu.getAccelY(), imu.getAccelZ());

diff --git a/src/main/java/net/frc5183/librobot/hardware/gyro/ADIS16470IMU.java b/src/main/java/net/frc5183/librobot/hardware/gyro/ADIS16470IMU.java
@@ -129,6 +129,11 @@ public double getRawAngleRadians(@NotNull CartesianAxis axis) {
         );
     }
 
+    @Override
+    public double getRate() {
+        return imu.getRate();
+    }
+
     @Override
     public @NotNull Translation3d getAccelerationMetersPerSecondSquared() {
         return new Translation3d(imu.getAccelX(), imu.getAccelY(), imu.getAccelZ());

diff --git a/src/main/java/net/frc5183/librobot/hardware/gyro/IMU.java b/src/main/java/net/frc5183/librobot/hardware/gyro/IMU.java
@@ -114,6 +114,12 @@ public Rotation3d getRotation3d() {
         return getRotation3dRadians();
     }
 
+    /**
+     * Returns the rotation rate of the IMU in degrees per second.
+     * @return the rotation rate of the IMU in degrees per second.
+     */
+    public abstract double getRate();
+
     /**
      * Gets the acceleration from the IMU in meters per second squared.
      * @return {@link Translation3d} of the acceleration from the IMU in meters per second squared.

diff --git a/src/main/java/net/frc5183/librobot/hardware/gyro/NavXIMU.java b/src/main/java/net/frc5183/librobot/hardware/gyro/NavXIMU.java
@@ -119,6 +119,11 @@ public double getRawAngleRadians(@NotNull CartesianAxis axis) {
         );
     }
 
+    @Override
+    public double getRate() {
+        return imu.getRate();
+    }
+
     @Override
     public @NotNull Translation3d getAccelerationMetersPerSecondSquared() {
         return new Translation3d(