Record Class ImuMountCheck.Inputs

java.lang.Object

java.lang.Record

frc.spectrumLib.localization.ImuMountCheck.Inputs

Record Components:

time - seconds

wheelsOk - every module connected, so the wheel velocity is real

vx - wheel-measured robot-relative velocity, m/s

vy - wheel-measured robot-relative velocity, m/s

omega - wheel-measured turn rate, rad/s

pigeonOk - Pigeon connected

pigeonYaw - radians

pigeonPitchDeg - mount-corrected

pigeonRollDeg - mount-corrected

pigeonAccelXG - g

pigeonAccelYG - g

imuPresent - onboard IMU read this loop

imuYaw - radians, after WPILib's mount orientation

imuAccelX - raw, m/s^2

imuAccelY - raw, m/s^2

imuAccelZ - raw, m/s^2

Enclosing class:

ImuMountCheck

public static record ImuMountCheck.Inputs(double time, boolean wheelsOk, double vx, double vy, double omega, boolean pigeonOk, double pigeonYaw, double pigeonPitchDeg, double pigeonRollDeg, double pigeonAccelXG, double pigeonAccelYG, boolean imuPresent, double imuYaw, double imuAccelX, double imuAccelY, double imuAccelZ)
extends Record

One loop's readings.

Constructor Summary

Constructors

Constructor	Description
Inputs(double time, boolean wheelsOk, double vx, double vy, double omega, boolean pigeonOk, double pigeonYaw, double pigeonPitchDeg, double pigeonRollDeg, double pigeonAccelXG, double pigeonAccelYG, boolean imuPresent, double imuYaw, double imuAccelX, double imuAccelY, double imuAccelZ)	Creates an instance of a Inputs record class.

Method Summary

Modifier and Type	Method	Description
final boolean	equals(Object o)	Indicates whether some other object is "equal to" this one.
final int	hashCode()	Returns a hash code value for this object.
double	imuAccelX()	Returns the value of the imuAccelX record component.
double	imuAccelY()	Returns the value of the imuAccelY record component.
double	imuAccelZ()	Returns the value of the imuAccelZ record component.
boolean	imuPresent()	Returns the value of the imuPresent record component.
double	imuYaw()	Returns the value of the imuYaw record component.
double	omega()	Returns the value of the omega record component.
double	pigeonAccelXG()	Returns the value of the pigeonAccelXG record component.
double	pigeonAccelYG()	Returns the value of the pigeonAccelYG record component.
boolean	pigeonOk()	Returns the value of the pigeonOk record component.
double	pigeonPitchDeg()	Returns the value of the pigeonPitchDeg record component.
double	pigeonRollDeg()	Returns the value of the pigeonRollDeg record component.
double	pigeonYaw()	Returns the value of the pigeonYaw record component.
double	time()	Returns the value of the time record component.
final String	toString()	Returns a string representation of this record class.
double	vx()	Returns the value of the vx record component.
double	vy()	Returns the value of the vy record component.
boolean	wheelsOk()	Returns the value of the wheelsOk record component.

Methods inherited from class Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Details

Inputs

public Inputs(double time,
 boolean wheelsOk,
 double vx,
 double vy,
 double omega,
 boolean pigeonOk,
 double pigeonYaw,
 double pigeonPitchDeg,
 double pigeonRollDeg,
 double pigeonAccelXG,
 double pigeonAccelYG,
 boolean imuPresent,
 double imuYaw,
 double imuAccelX,
 double imuAccelY,
 double imuAccelZ)

Creates an instance of a Inputs record class.

Parameters:

time - the value for the time record component

wheelsOk - the value for the wheelsOk record component

vx - the value for the vx record component

vy - the value for the vy record component

omega - the value for the omega record component

pigeonOk - the value for the pigeonOk record component

pigeonYaw - the value for the pigeonYaw record component

pigeonPitchDeg - the value for the pigeonPitchDeg record component

pigeonRollDeg - the value for the pigeonRollDeg record component

pigeonAccelXG - the value for the pigeonAccelXG record component

pigeonAccelYG - the value for the pigeonAccelYG record component

imuPresent - the value for the imuPresent record component

imuYaw - the value for the imuYaw record component

imuAccelX - the value for the imuAccelX record component

imuAccelY - the value for the imuAccelY record component

imuAccelZ - the value for the imuAccelZ record component

Method Details

toString

public final String toString()

Returns a string representation of this record class. The representation contains the name of the class, followed by the name and value of each of the record components.

Specified by:

toString in class Record

Returns:

a string representation of this object

hashCode

public final int hashCode()

Returns a hash code value for this object. The value is derived from the hash code of each of the record components.

Specified by:

hashCode in class Record

Returns:

a hash code value for this object

equals

public final boolean equals(Object o)

Indicates whether some other object is "equal to" this one. The objects are equal if the other object is of the same class and if all the record components are equal. All components in this record class are compared with the compare method from their corresponding wrapper classes.

Specified by:

equals in class Record

Parameters:

o - the object with which to compare

Returns:

true if this object is the same as the o argument; false otherwise.

time

public double time()

Returns the value of the time record component.

Returns:

the value of the time record component

wheelsOk

public boolean wheelsOk()

Returns the value of the wheelsOk record component.

Returns:

the value of the wheelsOk record component

vx

public double vx()

Returns the value of the vx record component.

Returns:

the value of the vx record component

vy

public double vy()

Returns the value of the vy record component.

Returns:

the value of the vy record component

omega

public double omega()

Returns the value of the omega record component.

Returns:

the value of the omega record component

pigeonOk

public boolean pigeonOk()

Returns the value of the pigeonOk record component.

Returns:

the value of the pigeonOk record component

pigeonYaw

public double pigeonYaw()

Returns the value of the pigeonYaw record component.

Returns:

the value of the pigeonYaw record component

pigeonPitchDeg

public double pigeonPitchDeg()

Returns the value of the pigeonPitchDeg record component.

Returns:

the value of the pigeonPitchDeg record component

pigeonRollDeg

public double pigeonRollDeg()

Returns the value of the pigeonRollDeg record component.

Returns:

the value of the pigeonRollDeg record component

pigeonAccelXG

public double pigeonAccelXG()

Returns the value of the pigeonAccelXG record component.

Returns:

the value of the pigeonAccelXG record component

pigeonAccelYG

public double pigeonAccelYG()

Returns the value of the pigeonAccelYG record component.

Returns:

the value of the pigeonAccelYG record component

imuPresent

public boolean imuPresent()

Returns the value of the imuPresent record component.

Returns:

the value of the imuPresent record component

imuYaw

public double imuYaw()

Returns the value of the imuYaw record component.

Returns:

the value of the imuYaw record component

imuAccelX

public double imuAccelX()

Returns the value of the imuAccelX record component.

Returns:

the value of the imuAccelX record component

imuAccelY

public double imuAccelY()

Returns the value of the imuAccelY record component.

Returns:

the value of the imuAccelY record component

imuAccelZ

public double imuAccelZ()

Returns the value of the imuAccelZ record component.

Returns:

the value of the imuAccelZ record component