Class Limelight.IMUData

java.lang.Object
com.limelightvision.Limelight.IMUData
Enclosing class:
Limelight
public static class Limelight.IMUData extends Object
The state of the camera's internal IMU.

  • Field Details

    • quaternion

      public double[] quaternion
      Orientation quaternion [w, x, y, z].

    • robotYawDegrees

      public double robotYawDegrees
      Final fused robot yaw in degrees, the value MegaTag2 uses (includes yawOffsetDegrees).

    • yawOffsetDegrees

      public double yawOffsetDegrees
      Yaw offset in degrees currently applied to the internal IMU.

    • rollDegrees

      public double rollDegrees
      Internal IMU roll in degrees.

    • pitchDegrees

      public double pitchDegrees
      Internal IMU pitch in degrees.

    • yawDegrees

      public double yawDegrees
      Raw internal IMU yaw in degrees (before yawOffsetDegrees, see robotYawDegrees).

    • gyroXDegreesPerSecond

      public double gyroXDegreesPerSecond
      Gyro angular velocity about X in degrees per second.

    • gyroYDegreesPerSecond

      public double gyroYDegreesPerSecond
      Gyro angular velocity about Y in degrees per second.

    • gyroZDegreesPerSecond

      public double gyroZDegreesPerSecond
      Gyro angular velocity about Z in degrees per second.

    • accelX

      public double accelX
      Accelerometer X (forward) axis.

    • accelY

      public double accelY
      Accelerometer Y (left) axis.

    • accelZ

      public double accelZ
      Accelerometer Z (up) axis.

  • Constructor Details

    • IMUData

      public IMUData()