Enum Class IMUMode

java.lang.Object

java.lang.Enum<IMUMode>

com.limelightvision.IMUMode

All Implemented Interfaces:

Serializable, Comparable<IMUMode>, Constable

public enum IMUMode
extends Enum<IMUMode>

IMU sources for the robot yaw that MegaTag2 uses. The external orientation comes from Limelight.setRobotOrientation(double, boolean) or Limelight.setSharedRobotOrientation(double). Only cameras with a built-in IMU use this.

Nested Class Summary

Nested classes/interfaces inherited from class Enum

Enum.EnumDesc<E>

Enum Constant Summary

Enum Constants

Enum Constant	Description
EXTERNAL	Use the external orientation directly.
EXTERNAL_SEED_INTERNAL	Uses the external orientation.
INTERNAL	Use the internal IMU only.
INTERNAL_EXTERNAL_ASSIST	Internal IMU with a complementary filter converging on the external orientation.
INTERNAL_MT1_ASSIST	Internal IMU with a complementary filter.
UNKNOWN	The camera reported a mode this library does not know (never valid to set).

Method Summary

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

Methods inherited from class Enum

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

Methods inherited from class Object

getClass, notify, notifyAll, wait, wait, wait

Enum Constant Details

EXTERNAL

public static final IMUMode EXTERNAL

Use the external orientation directly.

EXTERNAL_SEED_INTERNAL

public static final IMUMode EXTERNAL_SEED_INTERNAL

Uses the external orientation. Continuously seeds the internal IMU with it

INTERNAL

public static final IMUMode INTERNAL

Use the internal IMU only.

INTERNAL_MT1_ASSIST

public static final IMUMode INTERNAL_MT1_ASSIST

Internal IMU with a complementary filter. The filter converges on the MegaTag1 yaw

INTERNAL_EXTERNAL_ASSIST

public static final IMUMode INTERNAL_EXTERNAL_ASSIST

Internal IMU with a complementary filter converging on the external orientation.

UNKNOWN

public static final IMUMode UNKNOWN

The camera reported a mode this library does not know (never valid to set).

Method Details

values

public static 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 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