Package com.titaniumtigers4829.data.imu

Enum Class IMUData.IMUMode

java.lang.Object
java.lang.Enum<IMUData.IMUMode>
com.titaniumtigers4829.data.imu.IMUData.IMUMode
All Implemented Interfaces:
Serializable, Comparable<IMUData.IMUMode>, Constable
Enclosing class:
IMUData
public static enum IMUData.IMUMode extends Enum<IMUData.IMUMode>
Enum representing different IMU usage modes for robot orientation or localization. Defines how internal and external IMUs are utilized, including seeding and convergence assistance.

  • Enum Constant Details

    • EXTERNAL_IMU

      public static final IMUData.IMUMode EXTERNAL_IMU
      Use only an external IMU orientation set by setRobotOrientation() for orientation data. No interaction with the internal IMU.

    • EXTERNAL_IMU_SEED_INTERNAL

      public static final IMUData.IMUMode EXTERNAL_IMU_SEED_INTERNAL
      Use an external IMU orientation set by setRobotOrientation() as the primary source and seed the internal IMU with its data. This should be used for "zeroing" the internal IMU. The internal IMU is initialized or calibrated using external IMU values.

    • INTERNAL_IMU

      public static final IMUData.IMUMode INTERNAL_IMU
      Use only the internal IMU for orientation data. No reliance on an external IMU.

    • INTERNAL_MT1_ASSISTED

      public static final IMUData.IMUMode INTERNAL_MT1_ASSISTED
      Use the internal IMU with MT1-assisted convergence. MegaTag1 provides additional data to improve internal IMU accuracy or stability.

    • INTERNAL_EXTERNAL_ASSISTED

      public static final IMUData.IMUMode INTERNAL_EXTERNAL_ASSISTED
      Use the internal IMU with external IMU-assisted convergence. The external IMU provides supplementary data to enhance internal IMU performance.

  • Method Details

    • values

      public static IMUData.IMUMode[] values()
      Returns an array containing the constants of this enum class, in the order they are declared.
      Returns:
      an array containing the constants of this enum class, in the order they are declared

    • valueOf

      public static IMUData.IMUMode valueOf(String name)
      Returns the enum constant of this class with the specified name. The string must match exactly an identifier used to declare an enum constant in this class. (Extraneous whitespace characters are not permitted.)
      Parameters:
      name - the name of the enum constant to be returned.
      Returns:
      the enum constant with the specified name
      Throws:
      IllegalArgumentException - if this enum class has no constant with the specified name
      NullPointerException - if the argument is null

    • getModeValue

      public int getModeValue()
      Returns the integer value associated with this IMU mode.
      Returns:
      The mode value (0 for EXTERNAL_IMU, 1 for EXTERNAL_IMU_SEED_INTERNAL, etc.)

    • fromValue

      public static IMUData.IMUMode fromValue(int value)
      Returns the IMUMode corresponding to the given integer value.
      Parameters:
      value - The integer value to convert to an IMUMode
      Returns:
      The matching IMUMode, or null if no match is found