BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.hardware/IMUEx

IMUEx

open class IMUEx : IMU, LazyImu, Runnable

Drop-in replacement for an Inertial Measurement Unit that provides WPIUnit data through fields and yaw domain, while implementing lazy loading compatible with RoadRunner.

This class supports different readings of IMU measurement, such as an unrestricted domain on heading reads, while also being able to provide IMU units in terms of WPIUnits.

This class is also down-castable to the Universal IMU Interface. Note that all data in this class is retrieved via the run method, which is auto-called when the conventional IMU methods are called. Threading capabilities do exist for IMUEx, however, they are dangerous operations.

Since this class is down-castable, it also can be used as a HardwareDevice and serves as drop-in replacements for the IMU and LazyImu interfaces.

Field-exposed angles from this class are intrinsic. Read more in the YawPitchRollAngles and Orientation classes.

This class also fuses the old DynIMU to expose LazyImu interface by taking a reference to an uninitialised IMU object and initialising it on the first call to a method.

As of v7.0.0, IMUEx is the standard IMU recommended for use in BunyipsLib, as it implements both LazyImu and IMU. A read refresh rate can also be specified via setRefreshRate.

Author

Lucas Bubner, 2025

Since

7.0.0

Constructors

constructor(@NonNull uninitializedIMU: IMU, @NonNull lazyParameters: IMU.Parameters)

Wrap a new IMUEx that will initialise the given IMU object when a read is required.

constructor(@NonNull uninitializedIMU: IMU)

Wrap a new IMUEx that will initialise the given IMU object when a read is required.

Types

The various modes that the yaw field can represent the current robot yaw as.

Properties

lastAcquisitionTimeNanos

open var lastAcquisitionTimeNanos: Long

Last acquisition of data from the IMU by IMUOp.

open var pitch: Measure<Angle>

Last read pitch of the IMU.

open var pitchVel: Measure<Velocity<Angle>>

Last read pitch velocity of the IMU.

open var quaternion: Quaternion

Last known robot-centric quaternion reported from the IMU and yaw offset.

open var roll: Measure<Angle>

Last read roll of the IMU.

open var rollVel: Measure<Velocity<Angle>>

Last read roll velocity of the IMU.

open var yaw: Measure<Angle>

Last read yaw (heading) of the IMU with the yaw offset.

open var yawOffset: Measure<Angle>

open var yawVel: Measure<Velocity<Angle>>

Last read yaw velocity of the IMU.

Functions

open fun close()

open fun get(): IMU

getConnectionInfo

open fun getConnectionInfo(): String

open fun getDeviceName(): String

getManufacturer

open fun getManufacturer(): HardwareDevice.Manufacturer

getRobotAngularVelocity

open fun getRobotAngularVelocity(@NonNull angleUnit: AngleUnit): AngularVelocity

getRobotOrientation

open fun getRobotOrientation(@NonNull reference: AxesReference, @NonNull order: AxesOrder, @NonNull angleUnit: AngleUnit): Orientation

Note: This Orientation will not respect the currently set YawDomain to ensure consistency across usages of the Universal IMU Interface.

getRobotOrientationAsQuaternion

open fun getRobotOrientationAsQuaternion(): Quaternion

Note: This Orientation will not respect the currently set YawDomain to ensure consistency across usages of the Universal IMU Interface.

getRobotYawPitchRollAngles

open fun getRobotYawPitchRollAngles(): YawPitchRollAngles

Note: This method will not respect the currently set YawDomain, as it may not respect the angle requirement as listed by the YawPitchRollAngles that is provided by this method.

open fun getVersion(): Int

open fun getYawDomain(): IMUEx.YawDomain

Gets the current yaw domain, which is the domain this IMU is reporting yaw at.

open fun initialize(@NonNull parametersToUseNow: IMU.Parameters): Boolean

open fun lazyInitialize(@NonNull parametersToUseLater: IMU.Parameters)

Ready the IMU for lazy initialisation using these parameters.

open fun none(): IMUEx

Creates a IMUEx with no IMU attached.

resetDeviceConfigurationForOpMode

open fun resetDeviceConfigurationForOpMode()

open fun resetYaw()

open fun run()

Update the class fields and method return values with the newest information from the IMU.

open fun setInitTimeout(@NonNull timeout: Measure<Time>)

Set a custom timeout for the initialisation of the IMU that will fail the initialisation if it takes too long.

open fun setRefreshRate(@NonNull interval: Measure<Time>)

Sets the refresh rate at which the IMU should be read.

open fun setYawDomain(@NonNull newDomain: IMUEx.YawDomain)

Sets the domain range of what the yaw field will return.

setYawMultiplier

open fun setYawMultiplier(mul: Double)

Set a multiplicative scale that will be applied to every delta update of the IMU heading.

open fun startThread()

open fun startThread(@NonNull loopSleepDuration: Measure<Time>)

Call to delegate the manual data updating of the IMU to a thread managed by Threads.

open fun stopThread()

Call to stop the thread started by startThread.