Package io.github.roboblazers7617.limelight

Enum Class LimelightSettings.ImuMode

java.lang.Object

java.lang.Enum<LimelightSettings.ImuMode>

io.github.roboblazers7617.limelight.LimelightSettings.ImuMode

All Implemented Interfaces:

Serializable, Comparable<LimelightSettings.ImuMode>, Constable

Enclosing class:

LimelightSettings

public static enum LimelightSettings.ImuMode
extends Enum<LimelightSettings.ImuMode>

IMU Mode Enum for the Limelight

Nested Class Summary

Nested classes/interfaces inherited from class java.lang.Enum

Enum.EnumDesc<E extends Enum<E>>

Enum Constant Summary

Enum Constants

Enum Constant	Description
ExternalAssistInternalIMU	Use internal IMU for MT2 localization while correcting it with external IMU updates from Limelight.setRobotOrientation(edu.wpi.first.math.geometry.Rotation3d).
ExternalImu	Use external IMU yaw submitted via Limelight.setRobotOrientation(edu.wpi.first.math.geometry.Rotation3d) for MT2 localization.
InternalImu	Use internal IMU for MT2 localization.
MT1AssistInternalImu	Use internal IMU for MT2 localization while using correcting it with estimated yaws from MT1.
SyncInternalImu	Use external IMU yaw submitted via Limelight.setRobotOrientation(edu.wpi.first.math.geometry.Rotation3d) for MT2 localization.

Method Summary

Modifier and Type	Method	Description
static LimelightSettings.ImuMode	valueOf(String name)	Returns the enum constant of this class with the specified name.
static LimelightSettings.ImuMode[]	values()	Returns an array containing the constants of this enum class, in the order they are declared.

Methods inherited from class java.lang.Enum

clone, compareTo, describeConstable, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf

Methods inherited from class java.lang.Object

getClass, notify, notifyAll, wait, wait, wait

Enum Constant Details

ExternalImu

public static final LimelightSettings.ImuMode ExternalImu

Use external IMU yaw submitted via Limelight.setRobotOrientation(edu.wpi.first.math.geometry.Rotation3d) for MT2 localization. The internal IMU is ignored entirely.

SyncInternalImu

public static final LimelightSettings.ImuMode SyncInternalImu

Use external IMU yaw submitted via Limelight.setRobotOrientation(edu.wpi.first.math.geometry.Rotation3d) for MT2 localization. The internal IMU is synced with the external IMU.

InternalImu

public static final LimelightSettings.ImuMode InternalImu

Use internal IMU for MT2 localization. Ignores external IMU updates from Limelight.setRobotOrientation(edu.wpi.first.math.geometry.Rotation3d).

MT1AssistInternalImu

public static final LimelightSettings.ImuMode MT1AssistInternalImu

Use internal IMU for MT2 localization while using correcting it with estimated yaws from MT1. Ignores external IMU updates from Limelight.setRobotOrientation(edu.wpi.first.math.geometry.Rotation3d).

ExternalAssistInternalIMU

public static final LimelightSettings.ImuMode ExternalAssistInternalIMU

Use internal IMU for MT2 localization while correcting it with external IMU updates from Limelight.setRobotOrientation(edu.wpi.first.math.geometry.Rotation3d).

Method Details

values

public static LimelightSettings.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 LimelightSettings.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