vex_sdk/
imu.rs

1//! V5 Inertial Sensor
2
3use core::ffi::c_double;
4
5use crate::{device::V5_DeviceT, map_jump_table};
6
7#[repr(C, packed)]
8#[derive(Default, Debug, Copy, Clone, PartialEq)]
9pub struct V5_DeviceImuRaw {
10    pub x: c_double,
11    pub y: c_double,
12    pub z: c_double,
13    pub w: c_double,
14}
15
16#[repr(C, packed)]
17#[derive(Default, Debug, Copy, Clone, PartialEq)]
18pub struct V5_DeviceImuQuaternion {
19    pub a: c_double,
20    pub b: c_double,
21    pub c: c_double,
22    pub d: c_double,
23}
24
25#[derive(Default, Debug, Copy, Clone, Eq, PartialEq)]
26#[repr(transparent)]
27pub struct V5ImuOrientationMode(pub core::ffi::c_uchar);
28
29impl V5ImuOrientationMode {
30    pub const kImuOrientationZUp: Self = Self(0x00);
31    pub const kImuOrientationZDown: Self = Self(0x10);
32    pub const kImuOrientationXUp: Self = Self(0x20);
33    pub const kImuOrientationXDown: Self = Self(0x30);
34    pub const kImuOrientationYUp: Self = Self(0x40);
35    pub const kImuOrientationYDown: Self = Self(0x50);
36    pub const kImuOrientationAuto: Self = Self(0x80);
37}
38
39#[repr(C, packed)]
40#[derive(Default, Debug, Copy, Clone, PartialEq)]
41pub struct V5_DeviceImuAttitude {
42    pub pitch: c_double,
43    pub roll: c_double,
44    pub yaw: c_double,
45}
46
47map_jump_table! {
48    0x410 =>
49        /// Calibrates the IMU. This function is non-blocking.
50        pub fn vexDeviceImuReset(device: V5_DeviceT),
51    0x414 =>
52        /// Returns the yaw-axis rotation of the IMU as an unbounded angle in degrees.
53        pub fn vexDeviceImuHeadingGet(device: V5_DeviceT) -> c_double,
54    0x418 =>
55        /// Returns the yaw-axis rotation of the IMU as an angle in degrees bounded 0-360.
56        pub fn vexDeviceImuDegreesGet(device: V5_DeviceT) -> c_double,
57    0x41c =>
58        /// Returns quaternion defined by the IMU's rotation.
59        pub fn vexDeviceImuQuaternionGet(device: V5_DeviceT, data: *mut V5_DeviceImuQuaternion),
60    0x420 =>
61        /// Returns the 3-axis euler angles of the IMU bounded from -180 to 180 degrees.
62        pub fn vexDeviceImuAttitudeGet(device: V5_DeviceT, data: *mut V5_DeviceImuAttitude),
63    0x424 =>
64        /// Returns the raw gyroscope readings of the IMU in degrees per second,
65        pub fn vexDeviceImuRawGyroGet(device: V5_DeviceT, data: *mut V5_DeviceImuRaw),
66    0x428 =>
67        /// Returns the raw accelerometer readings of the IMU in G.
68        pub fn vexDeviceImuRawAccelGet(device: V5_DeviceT, data: *mut V5_DeviceImuRaw),
69    0x42c =>
70        /// Returns the IMU's status bits.
71        pub fn vexDeviceImuStatusGet(device: V5_DeviceT) -> u32,
72    0x438 => pub fn vexDeviceImuModeSet(device: V5_DeviceT, mode: u32),
73    0x43c => pub fn vexDeviceImuModeGet(device: V5_DeviceT) -> u32,
74    0x444 => pub fn vexDeviceImuDataRateSet(device: V5_DeviceT, rate: u32),
75}
vex_sdk/imu.rs

vex_sdk/
imu.rs
