java.lang.Object
- com.kauailabs.navx.frc.AHRS

All Implemented Interfaces:

edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj.interfaces.Gyro, java.lang.AutoCloseable
```
public class AHRS
extends java.lang.Object
implements edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj.interfaces.Gyro
```
The AHRS class provides an interface to AHRS capabilities of the KauaiLabs navX Robotics Navigation Sensor via SPI, I2C and Serial (TTL UART and USB) communications interfaces on the RoboRIO. The AHRS class enables access to basic connectivity and state information, as well as key 6-axis and 9-axis orientation information (yaw, pitch, roll, compass heading, fused (9-axis) heading and magnetic disturbance detection. Additionally, the ARHS class also provides access to extended information including linear acceleration, motion detection, rotation detection and sensor temperature. If used with the navX Aero, the AHRS class also provides access to altitude, barometric pressure and pressure sensor temperature data

Nested Class Summary

Nested Classes
Modifier and Type	Class	Description
`static class`	`AHRS.BoardAxis`	Identifies one of the three sensing axes on the navX sensor board.
`static class`	`AHRS.BoardYawAxis`	Indicates which sensor board axis is used as the "yaw" (gravity) axis.
`static class`	`AHRS.SerialDataType`	For use with serial communications, the SerialDataType specifies the type of data to be streamed from the sensor.

Constructor Summary

Constructors
Constructor	Description
`AHRS()`	Constructs the AHRS class using SPI communication and the default update rate.
`AHRS(edu.wpi.first.wpilibj.I2C.Port i2c_port_id)`	Constructs the AHRS class using I2C communication and the default update rate.
`AHRS(edu.wpi.first.wpilibj.I2C.Port i2c_port_id, byte update_rate_hz)`	Constructs the AHRS class using I2C communication, overriding the default update rate with a custom rate which may be from 4 to 200, representing the number of updates per second sent by the sensor.
`AHRS(edu.wpi.first.wpilibj.SerialPort.Port serial_port_id)`	Constructs the AHRS class using serial communication and the default update rate, and returning processed (rather than raw) data.
`AHRS(edu.wpi.first.wpilibj.SerialPort.Port serial_port_id, AHRS.SerialDataType data_type, byte update_rate_hz)`	Constructs the AHRS class using serial communication, overriding the default update rate with a custom rate which may be from 4 to 200, representing the number of updates per second sent by the sensor.
`AHRS(edu.wpi.first.wpilibj.SPI.Port spi_port_id)`	Constructs the AHRS class using SPI communication and the default update rate.
`AHRS(edu.wpi.first.wpilibj.SPI.Port spi_port_id, byte update_rate_hz)`	Constructs the AHRS class using SPI communication, overriding the default update rate with a custom rate which may be from 4 to 200, representing the number of updates per second sent by the sensor.
`AHRS(edu.wpi.first.wpilibj.SPI.Port spi_port_id, int spi_bitrate, byte update_rate_hz)`	The AHRS class provides an interface to AHRS capabilities of the KauaiLabs navX Robotics Navigation Sensor via SPI, I2C and Serial (TTL UART and USB) communications interfaces on the RoboRIO.

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`void`	`calibrate()`
`void`	`close()`
`boolean`	`deregisterCallback(ITimestampedDataSubscriber callback)`	Deregisters a previously registered callback interface.
`void`	`enableBoardlevelYawReset(boolean enable)`	Enables or disables board-level yaw zero (reset) requests.
`void`	`enableLogging(boolean enable)`	Enables or disables logging (via Console I/O) of AHRS library internal behaviors, including events such as transient communication errors.
`short`	`getAccelFullScaleRangeG()`	Returns the sensor full scale range (in G) of the X, Y and X-axis accelerometers.
`int`	`getActualUpdateRate()`	Returns the navX-Model device's currently configured update rate.
`float`	`getAltitude()`	Returns the current altitude, based upon calibrated readings from a barometric pressure sensor, and the currently-configured sea-level barometric pressure [navX Aero only].
`double`	`getAngle()`	Returns the total accumulated yaw angle (Z Axis, in degrees) reported by the sensor.
`double`	`getAngleAdjustment()`	Returns the currently configured adjustment angle.
`float`	`getBarometricPressure()`	Returns the current barometric pressure, based upon calibrated readings from the onboard pressure sensor.
`AHRS.BoardYawAxis`	`getBoardYawAxis()`	Returns information regarding which sensor board axis (X,Y or Z) and direction (up/down) is currently configured to report Yaw (Z) angle values.
`double`	`getByteCount()`	Returns the count in bytes of data received from the sensor.
`float`	`getCompassHeading()`	Returns the current tilt-compensated compass heading value (in degrees, from 0 to 360) reported by the sensor.
`float`	`getDisplacementX()`	Returns the displacement (in meters) of the X axis since resetDisplacement() was last invoked [Experimental].
`float`	`getDisplacementY()`	Returns the displacement (in meters) of the Y axis since resetDisplacement() was last invoked [Experimental].
`float`	`getDisplacementZ()`	Returns the displacement (in meters) of the Z axis since resetDisplacement() was last invoked [Experimental].
`java.lang.String`	`getFirmwareVersion()`	Returns the version number of the firmware currently executing on the sensor.
`float`	`getFusedHeading()`	Returns the "fused" (9-axis) heading.
`short`	`getGyroFullScaleRangeDPS()`	Returns the sensor full scale range (in degrees per second) of the X, Y and X-axis gyroscopes.
`long`	`getLastSensorTimestamp()`	Returns the sensor timestamp corresponding to the last sample retrieved from the sensor.
`float`	`getPitch()`	Returns the current pitch value (in degrees, from -180 to 180) reported by the sensor.
`float`	`getPressure()`	Returns the current barometric pressure (in millibar) [navX Aero only].
`float`	`getQuaternionW()`	Returns the imaginary portion (W) of the Orientation Quaternion which fully describes the current sensor orientation with respect to the reference angle defined as the angle at which the yaw was last "zeroed".
`float`	`getQuaternionX()`	Returns the real portion (X axis) of the Orientation Quaternion which fully describes the current sensor orientation with respect to the reference angle defined as the angle at which the yaw was last "zeroed".
`float`	`getQuaternionY()`	Returns the real portion (X axis) of the Orientation Quaternion which fully describes the current sensor orientation with respect to the reference angle defined as the angle at which the yaw was last "zeroed".
`float`	`getQuaternionZ()`	Returns the real portion (X axis) of the Orientation Quaternion which fully describes the current sensor orientation with respect to the reference angle defined as the angle at which the yaw was last "zeroed".
`double`	`getRate()`	Return the rate of rotation of the yaw (Z-axis) gyro, in degrees per second.
`float`	`getRawAccelX()`	Returns the current raw (unprocessed) X-axis acceleration rate (in G).
`float`	`getRawAccelY()`	Returns the current raw (unprocessed) Y-axis acceleration rate (in G).
`float`	`getRawAccelZ()`	Returns the current raw (unprocessed) Z-axis acceleration rate (in G).
`float`	`getRawGyroX()`	Returns the current raw (unprocessed) X-axis gyro rotation rate (in degrees/sec).
`float`	`getRawGyroY()`	Returns the current raw (unprocessed) Y-axis gyro rotation rate (in degrees/sec).
`float`	`getRawGyroZ()`	Returns the current raw (unprocessed) Z-axis gyro rotation rate (in degrees/sec).
`float`	`getRawMagX()`	Returns the current raw (unprocessed) X-axis magnetometer reading (in uTesla).
`float`	`getRawMagY()`	Returns the current raw (unprocessed) Y-axis magnetometer reading (in uTesla).
`float`	`getRawMagZ()`	Returns the current raw (unprocessed) Z-axis magnetometer reading (in uTesla).
`int`	`getRequestedUpdateRate()`	Returns the currently requested update rate.
`float`	`getRoll()`	Returns the current roll value (in degrees, from -180 to 180) reported by the sensor.
`float`	`getTempC()`	Returns the current temperature (in degrees centigrade) reported by the sensor's gyro/accelerometer circuit.
`double`	`getUpdateCount()`	Returns the count of valid updates which have been received from the sensor.
`float`	`getVelocityX()`	Returns the velocity (in meters/sec) of the X axis [Experimental].
`float`	`getVelocityY()`	Returns the velocity (in meters/sec) of the Y axis [Experimental].
`float`	`getVelocityZ()`	Returns the velocity (in meters/sec) of the Z axis [Experimental].
`float`	`getWorldLinearAccelX()`	Returns the current linear acceleration in the X-axis (in G).
`float`	`getWorldLinearAccelY()`	Returns the current linear acceleration in the Y-axis (in G).
`float`	`getWorldLinearAccelZ()`	Returns the current linear acceleration in the Z-axis (in G).
`float`	`getYaw()`	Returns the current yaw value (in degrees, from -180 to 180) reported by the sensor.
`void`	`initSendable(edu.wpi.first.util.sendable.SendableBuilder builder)`	Initializes smart dashboard communication.
`boolean`	`isAltitudeValid()`	Indicates whether the current altitude (and barometric pressure) data is valid.
`boolean`	`isBoardlevelYawResetEnabled()`	Returns true if Board-level yaw resets are enabled.
`boolean`	`isCalibrating()`	Returns true if the sensor is currently performing automatic gyro/accelerometer calibration.
`boolean`	`isConnected()`	Indicates whether the sensor is currently connected to the host computer.
`boolean`	`isMagneticDisturbance()`	Indicates whether the current magnetic field strength diverges from the calibrated value for the earth's magnetic field by more than the currently- configured Magnetic Disturbance Ratio.
`boolean`	`isMagnetometerCalibrated()`	Indicates whether the magnetometer has been calibrated.
`boolean`	`isMoving()`	Indicates if the sensor is currently detecting motion, based upon the X and Y-axis world linear acceleration values.
`boolean`	`isRotating()`	Indicates if the sensor is currently detecting yaw rotation, based upon whether the change in yaw over the last second exceeds the "Rotation Threshold."
`boolean`	`registerCallback(ITimestampedDataSubscriber callback, java.lang.Object callback_context)`	Registers a callback interface.
`void`	`reset()`	Reset the Yaw gyro.
`void`	`resetDisplacement()`	Zeros the displacement integration variables.
`void`	`setAngleAdjustment(double adjustment)`	Sets an amount of angle to be automatically added before returning a angle from the getAngle() method.
`void`	`zeroYaw()`	Sets the user-specified yaw offset to the current yaw value reported by the sensor.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface edu.wpi.first.wpilibj.interfaces.Gyro
getRotation2d

- Constructor Detail
  - AHRS
```
public AHRS(edu.wpi.first.wpilibj.SPI.Port spi_port_id,
            byte update_rate_hz)
```
    Constructs the AHRS class using SPI communication, overriding the default update rate with a custom rate which may be from 4 to 200, representing the number of updates per second sent by the sensor.
    This constructor should be used if communicating via SPI.
    Note that increasing the update rate may increase the CPU utilization.
    
    Parameters:
    
    spi_port_id - SPI Port to use
    
    update_rate_hz - Custom Update Rate (Hz)
  - AHRS
```
public AHRS(edu.wpi.first.wpilibj.SPI.Port spi_port_id,
            int spi_bitrate,
            byte update_rate_hz)
```
    The AHRS class provides an interface to AHRS capabilities of the KauaiLabs navX Robotics Navigation Sensor via SPI, I2C and Serial (TTL UART and USB) communications interfaces on the RoboRIO. The AHRS class enables access to basic connectivity and state information, as well as key 6-axis and 9-axis orientation information (yaw, pitch, roll, compass heading, fused (9-axis) heading and magnetic disturbance detection. Additionally, the ARHS class also provides access to extended information including linear acceleration, motion detection, rotation detection and sensor temperature. If used with the navX Aero, the AHRS class also provides access to altitude, barometric pressure and pressure sensor temperature data This constructor allows the specification of a custom SPI bitrate, in bits/second.
    
    Parameters:
    
    spi_port_id - SPI Port to use
    
    spi_bitrate - SPI bitrate (Maximum: 2,000,000)
    
    update_rate_hz - Custom Update Rate (Hz)
  - AHRS
```
public AHRS(edu.wpi.first.wpilibj.I2C.Port i2c_port_id,
            byte update_rate_hz)
```
    Constructs the AHRS class using I2C communication, overriding the default update rate with a custom rate which may be from 4 to 200, representing the number of updates per second sent by the sensor.
    This constructor should be used if communicating via I2C.
    Note that increasing the update rate may increase the CPU utilization.
    
    Parameters:
    
    i2c_port_id - I2C Port to use
    
    update_rate_hz - Custom Update Rate (Hz)
  - AHRS
```
public AHRS(edu.wpi.first.wpilibj.SerialPort.Port serial_port_id,
            AHRS.SerialDataType data_type,
            byte update_rate_hz)
```
    Constructs the AHRS class using serial communication, overriding the default update rate with a custom rate which may be from 4 to 200, representing the number of updates per second sent by the sensor.
    This constructor should be used if communicating via either TTL UART or USB Serial interface.
    Note that the serial interfaces can communicate either processed data, or raw data, but not both simultaneously. If simultaneous processed and raw data are needed, use one of the register-based interfaces (SPI or I2C).
    Note that increasing the update rate may increase the CPU utilization.
    
    Parameters:
    
    serial_port_id - SerialPort to use
    
    data_type - either kProcessedData or kRawData
    
    update_rate_hz - Custom Update Rate (Hz)
  - AHRS
```
public AHRS()
```
    Constructs the AHRS class using SPI communication and the default update rate.
    This constructor should be used if communicating via SPI.
  - AHRS
```
public AHRS(edu.wpi.first.wpilibj.SPI.Port spi_port_id)
```
    Constructs the AHRS class using SPI communication and the default update rate.
    This constructor should be used if communicating via SPI.
    
    Parameters:
    
    spi_port_id - SPI port to use.
  - AHRS
```
public AHRS(edu.wpi.first.wpilibj.I2C.Port i2c_port_id)
```
    Constructs the AHRS class using I2C communication and the default update rate.
    This constructor should be used if communicating via I2C.
    
    Parameters:
    
    i2c_port_id - I2C port to use
  - AHRS
```
public AHRS(edu.wpi.first.wpilibj.SerialPort.Port serial_port_id)
```
    Constructs the AHRS class using serial communication and the default update rate, and returning processed (rather than raw) data.
    This constructor should be used if communicating via either TTL UART or USB Serial interface.
    
    Parameters:
    
    serial_port_id - SerialPort to use
- Method Detail
  - getPitch
```
public float getPitch()
```
    Returns the current pitch value (in degrees, from -180 to 180) reported by the sensor. Pitch is a measure of rotation around the X Axis.
    
    Returns:
    
    The current pitch value in degrees (-180 to 180).
  - getRoll
```
public float getRoll()
```
    Returns the current roll value (in degrees, from -180 to 180) reported by the sensor. Roll is a measure of rotation around the X Axis.
    
    Returns:
    
    The current roll value in degrees (-180 to 180).
  - getYaw
```
public float getYaw()
```
    Returns the current yaw value (in degrees, from -180 to 180) reported by the sensor. Yaw is a measure of rotation around the Z Axis (which is perpendicular to the earth).
    Note that the returned yaw value will be offset by a user-specified offset value; this user-specified offset value is set by invoking the zeroYaw() method.
    
    Returns:
    
    The current yaw value in degrees (-180 to 180).
  - getCompassHeading
```
public float getCompassHeading()
```
    Returns the current tilt-compensated compass heading value (in degrees, from 0 to 360) reported by the sensor.
    Note that this value is sensed by a magnetometer, which can be affected by nearby magnetic fields (e.g., the magnetic fields generated by nearby motors).
    Before using this value, ensure that (a) the magnetometer has been calibrated and (b) that a magnetic disturbance is not taking place at the instant when the compass heading was generated.
    
    Returns:
    
    The current tilt-compensated compass heading, in degrees (0-360).
  - zeroYaw
```
public void zeroYaw()
```
    Sets the user-specified yaw offset to the current yaw value reported by the sensor.
    This user-specified yaw offset is automatically subtracted from subsequent yaw values reported by the getYaw() method. NOTE: This method has no effect if the sensor is currently calibrating, since resetting the yaw will interfere with the calibration process.
  - isCalibrating
```
public boolean isCalibrating()
```
    Returns true if the sensor is currently performing automatic gyro/accelerometer calibration. Automatic calibration occurs when the sensor is initially powered on, during which time the sensor should be held still, with the Z-axis pointing up (perpendicular to the earth).
    NOTE: During this automatic calibration, the yaw, pitch and roll values returned may not be accurate.
    Once calibration is complete, the sensor will automatically remove an internal yaw offset value from all reported values.
    
    Returns:
    
    Returns true if the sensor is currently automatically calibrating the gyro and accelerometer sensors.
  - isConnected
```
public boolean isConnected()
```
    Indicates whether the sensor is currently connected to the host computer. A connection is considered established whenever communication with the sensor has occurred recently.
    
    Returns:
    
    Returns true if a valid update has been recently received from the sensor.
  - getByteCount
```
public double getByteCount()
```
    Returns the count in bytes of data received from the sensor. This could can be useful for diagnosing connectivity issues.
    If the byte count is increasing, but the update count (see getUpdateCount()) is not, this indicates a software misconfiguration.
    
    Returns:
    
    The number of bytes received from the sensor.
  - getActualUpdateRate
```
public int getActualUpdateRate()
```
    Returns the navX-Model device's currently configured update rate. Note that the update rate that can actually be realized is a value evenly divisible by the navX-Model device's internal motion processor sample clock (200Hz). Therefore, the rate that is returned may be lower than the requested sample rate. The actual sample rate is rounded down to the nearest integer that is divisible by the number of Digital Motion Processor clock ticks. For instance, a request for 58 Hertz will result in an actual rate of 66Hz (200 / (200 / 58), using integer math.
    
    Returns:
    
    Returns the current actual update rate in Hz (cycles per second).
  - getRequestedUpdateRate
```
public int getRequestedUpdateRate()
```
    Returns the currently requested update rate. rate. Note that not every update rate can actually be realized, since the actual update rate must be a value evenly divisible by the navX-Model device's internal motion processor sample clock (200Hz). To determine the actual update rate, use the getActualUpdateRate() method.
    
    Returns:
    
    Returns the requested update rate in Hz (cycles per second).
  - getUpdateCount
```
public double getUpdateCount()
```
    Returns the count of valid updates which have been received from the sensor. This count should increase at the same rate indicated by the configured update rate.
    
    Returns:
    
    The number of valid updates received from the sensor.
  - getLastSensorTimestamp
```
public long getLastSensorTimestamp()
```
    Returns the sensor timestamp corresponding to the last sample retrieved from the sensor. Note that this sensor timestamp is only provided when the Register-based IO methods (SPI, I2C) are used; sensor timestamps are not provided when Serial-based IO methods (TTL UART, USB) are used.
    
    Returns:
    
    The sensor timestamp corresponding to the current AHRS sensor data.
  - getWorldLinearAccelX
```
public float getWorldLinearAccelX()
```
    Returns the current linear acceleration in the X-axis (in G).
    World linear acceleration refers to raw acceleration data, which has had the gravity component removed, and which has been rotated to the same reference frame as the current yaw value. The resulting value represents the current acceleration in the x-axis of the body (e.g., the robot) on which the sensor is mounted.
    
    Returns:
    
    Current world linear acceleration in the X-axis (in G).
  - getWorldLinearAccelY
```
public float getWorldLinearAccelY()
```
    Returns the current linear acceleration in the Y-axis (in G).
    World linear acceleration refers to raw acceleration data, which has had the gravity component removed, and which has been rotated to the same reference frame as the current yaw value. The resulting value represents the current acceleration in the Y-axis of the body (e.g., the robot) on which the sensor is mounted.
    
    Returns:
    
    Current world linear acceleration in the Y-axis (in G).
  - getWorldLinearAccelZ
```
public float getWorldLinearAccelZ()
```
    Returns the current linear acceleration in the Z-axis (in G).
    World linear acceleration refers to raw acceleration data, which has had the gravity component removed, and which has been rotated to the same reference frame as the current yaw value. The resulting value represents the current acceleration in the Z-axis of the body (e.g., the robot) on which the sensor is mounted.
    
    Returns:
    
    Current world linear acceleration in the Z-axis (in G).
  - isMoving
```
public boolean isMoving()
```
    Indicates if the sensor is currently detecting motion, based upon the X and Y-axis world linear acceleration values. If the sum of the absolute values of the X and Y axis exceed a "motion threshold", the motion state is indicated.
    
    Returns:
    
    Returns true if the sensor is currently detecting motion.
  - isRotating
```
public boolean isRotating()
```
    Indicates if the sensor is currently detecting yaw rotation, based upon whether the change in yaw over the last second exceeds the "Rotation Threshold."
    Yaw Rotation can occur either when the sensor is rotating, or when the sensor is not rotating AND the current gyro calibration is insufficiently calibrated to yield the standard yaw drift rate.
    
    Returns:
    
    Returns true if the sensor is currently detecting motion.
  - getBarometricPressure
```
public float getBarometricPressure()
```
    Returns the current barometric pressure, based upon calibrated readings from the onboard pressure sensor. This value is in units of millibar.
    NOTE: This value is only valid for a navX Aero. To determine whether this value is valid, see isAltitudeValid().
    
    Returns:
    
    Returns current barometric pressure (navX Aero only).
  - getAltitude
```
public float getAltitude()
```
    Returns the current altitude, based upon calibrated readings from a barometric pressure sensor, and the currently-configured sea-level barometric pressure [navX Aero only]. This value is in units of meters.
    NOTE: This value is only valid sensors including a pressure sensor. To determine whether this value is valid, see isAltitudeValid().
    
    Returns:
    
    Returns current altitude in meters (as long as the sensor includes an installed on-board pressure sensor).
  - isAltitudeValid
```
public boolean isAltitudeValid()
```
    Indicates whether the current altitude (and barometric pressure) data is valid. This value will only be true for a sensor with an onboard pressure sensor installed.
    If this value is false for a board with an installed pressure sensor, this indicates a malfunction of the onboard pressure sensor.
    
    Returns:
    
    Returns true if a working pressure sensor is installed.
  - getFusedHeading
```
public float getFusedHeading()
```
    Returns the "fused" (9-axis) heading.
    The 9-axis heading is the fusion of the yaw angle, the tilt-corrected compass heading, and magnetic disturbance detection. Note that the magnetometer calibration procedure is required in order to achieve valid 9-axis headings.
    The 9-axis Heading represents the sensor's best estimate of current heading, based upon the last known valid Compass Angle, and updated by the change in the Yaw Angle since the last known valid Compass Angle. The last known valid Compass Angle is updated whenever a Calibrated Compass Angle is read and the sensor has recently rotated less than the Compass Noise Bandwidth (~2 degrees).
    
    Returns:
    
    Fused Heading in Degrees (range 0-360)
  - isMagneticDisturbance
```
public boolean isMagneticDisturbance()
```
    Indicates whether the current magnetic field strength diverges from the calibrated value for the earth's magnetic field by more than the currently- configured Magnetic Disturbance Ratio.
    This function will always return false if the sensor's magnetometer has not yet been calibrated; see isMagnetometerCalibrated().
    
    Returns:
    
    true if a magnetic disturbance is detected (or the magnetometer is uncalibrated).
  - isMagnetometerCalibrated
```
public boolean isMagnetometerCalibrated()
```
    Indicates whether the magnetometer has been calibrated.
    Magnetometer Calibration must be performed by the user.
    Note that if this function does indicate the magnetometer is calibrated, this does not necessarily mean that the calibration quality is sufficient to yield valid compass headings.
    
    Returns:
    
    Returns true if magnetometer calibration has been performed.
  - getQuaternionW
```
public float getQuaternionW()
```
    Returns the imaginary portion (W) of the Orientation Quaternion which fully describes the current sensor orientation with respect to the reference angle defined as the angle at which the yaw was last "zeroed".
    Each quaternion value (W,X,Y,Z) is expressed as a value ranging from -2 to 2. This total range (4) can be associated with a unit circle, since each circle is comprised of 4 PI Radians.
    For more information on Quaternions and their use, please see this definition.
    
    Returns:
    
    Returns the imaginary portion (W) of the quaternion.
  - getQuaternionX
```
public float getQuaternionX()
```
    Returns the real portion (X axis) of the Orientation Quaternion which fully describes the current sensor orientation with respect to the reference angle defined as the angle at which the yaw was last "zeroed".
    Each quaternion value (W,X,Y,Z) is expressed as a value ranging from -2 to 2. This total range (4) can be associated with a unit circle, since each circle is comprised of 4 PI Radians.
    For more information on Quaternions and their use, please see this description.
    
    Returns:
    
    Returns the real portion (X) of the quaternion.
  - getQuaternionY
```
public float getQuaternionY()
```
    Returns the real portion (X axis) of the Orientation Quaternion which fully describes the current sensor orientation with respect to the reference angle defined as the angle at which the yaw was last "zeroed". Each quaternion value (W,X,Y,Z) is expressed as a value ranging from -2 to 2. This total range (4) can be associated with a unit circle, since each circle is comprised of 4 PI Radians. For more information on Quaternions and their use, please see: https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation
    
    Returns:
    
    Returns the real portion (X) of the quaternion.
  - getQuaternionZ
```
public float getQuaternionZ()
```
    Returns the real portion (X axis) of the Orientation Quaternion which fully describes the current sensor orientation with respect to the reference angle defined as the angle at which the yaw was last "zeroed". Each quaternion value (W,X,Y,Z) is expressed as a value ranging from -2 to 2. This total range (4) can be associated with a unit circle, since each circle is comprised of 4 PI Radians. For more information on Quaternions and their use, please see: https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation
    
    Returns:
    
    Returns the real portion (X) of the quaternion.
  - resetDisplacement
```
public void resetDisplacement()
```
    Zeros the displacement integration variables. Invoke this at the moment when integration begins.
  - getVelocityX
```
public float getVelocityX()
```
    Returns the velocity (in meters/sec) of the X axis [Experimental]. NOTE: This feature is experimental. Velocity measures rely on integration of acceleration values from MEMS accelerometers which yield "noisy" values. The resulting velocities are not known to be very accurate.
    
    Returns:
    
    Current Velocity (in meters/squared).
  - getVelocityY
```
public float getVelocityY()
```
    Returns the velocity (in meters/sec) of the Y axis [Experimental]. NOTE: This feature is experimental. Velocity measures rely on integration of acceleration values from MEMS accelerometers which yield "noisy" values. The resulting velocities are not known to be very accurate.
    
    Returns:
    
    Current Velocity (in meters/squared).
  - getVelocityZ
```
public float getVelocityZ()
```
    Returns the velocity (in meters/sec) of the Z axis [Experimental]. NOTE: This feature is experimental. Velocity measures rely on integration of acceleration values from MEMS accelerometers which yield "noisy" values. The resulting velocities are not known to be very accurate.
    
    Returns:
    
    Current Velocity (in meters/squared).
  - getDisplacementX
```
public float getDisplacementX()
```
    Returns the displacement (in meters) of the X axis since resetDisplacement() was last invoked [Experimental]. NOTE: This feature is experimental. Displacement measures rely on double-integration of acceleration values from MEMS accelerometers which yield "noisy" values. The resulting displacement are not known to be very accurate, and the amount of error increases quickly as time progresses.
    
    Returns:
    
    Displacement since last reset (in meters).
  - getDisplacementY
```
public float getDisplacementY()
```
    Returns the displacement (in meters) of the Y axis since resetDisplacement() was last invoked [Experimental]. NOTE: This feature is experimental. Displacement measures rely on double-integration of acceleration values from MEMS accelerometers which yield "noisy" values. The resulting displacement are not known to be very accurate, and the amount of error increases quickly as time progresses.
    
    Returns:
    
    Displacement since last reset (in meters).
  - getDisplacementZ
```
public float getDisplacementZ()
```
    Returns the displacement (in meters) of the Z axis since resetDisplacement() was last invoked [Experimental]. NOTE: This feature is experimental. Displacement measures rely on double-integration of acceleration values from MEMS accelerometers which yield "noisy" values. The resulting displacement are not known to be very accurate, and the amount of error increases quickly as time progresses.
    
    Returns:
    
    Displacement since last reset (in meters).
  - registerCallback
```
public boolean registerCallback(ITimestampedDataSubscriber callback,
                                java.lang.Object callback_context)
```
    Registers a callback interface. This interface will be called back when new data is available, based upon a change in the sensor timestamp.
    Note that this callback will occur within the context of the device IO thread, which is not the same thread context the caller typically executes in.
    
    Parameters:
    
    callback - The callback object to be invoked when callbacks occur
    
    callback_context - The callback context object to be passed as a parameter to the callback object.
    
    Returns:
    
    returns true if callback was successfully registered.
  - deregisterCallback
```
public boolean deregisterCallback(ITimestampedDataSubscriber callback)
```
    Deregisters a previously registered callback interface. Be sure to deregister any callback which have been previously registered, to ensure that the object implementing the callback interface does not continue to be accessed when no longer necessary.
    
    Parameters:
    
    callback - The previously-registered callback object to be deregistered.
    
    Returns:
    
    returns true if callback was successfully deregistered.
  - getAngle
```
public double getAngle()
```
    Returns the total accumulated yaw angle (Z Axis, in degrees) reported by the sensor.
    NOTE: The angle is continuous, meaning it's range is beyond 360 degrees. This ensures that algorithms that wouldn't want to see a discontinuity in the gyro output as it sweeps past 0 on the second time around.
    Note that the returned yaw value will be offset by a user-specified offset value; this user-specified offset value is set by invoking the zeroYaw() method.
    
    Specified by:
    
    getAngle in interface edu.wpi.first.wpilibj.interfaces.Gyro
    
    Returns:
    
    The current total accumulated yaw angle (Z axis) of the robot in degrees. This heading is based on integration of the returned rate from the Z-axis (yaw) gyro.
  - getRate
```
public double getRate()
```
    Return the rate of rotation of the yaw (Z-axis) gyro, in degrees per second.
    The rate is based on the most recent reading of the yaw gyro angle.
    
    Specified by:
    
    getRate in interface edu.wpi.first.wpilibj.interfaces.Gyro
    
    Returns:
    
    The current rate of change in yaw angle (in degrees per second)
  - setAngleAdjustment
```
public void setAngleAdjustment(double adjustment)
```
    Sets an amount of angle to be automatically added before returning a angle from the getAngle() method. This allows users of the getAngle() method to logically rotate the sensor by a given amount of degrees.
    NOTE 1: The adjustment angle is only applied to the value returned from getAngle() - it does not adjust the value returned from getYaw(), nor any of the quaternion values.
    NOTE 2: The adjustment angle is notautomatically cleared whenever the sensor yaw angle is reset.
    If not set, the default adjustment angle is 0 degrees (no adjustment).
    
    Parameters:
    
    adjustment - , in degrees (range: -360 to 360)
  - getAngleAdjustment
```
public double getAngleAdjustment()
```
    Returns the currently configured adjustment angle. See setAngleAdjustment() for more details. If this method returns 0 degrees, no adjustment to the value returned via getAngle() will occur.
    
    Returns:
    
    adjustment, in degrees (range: -360 to 360)
  - reset
```
public void reset()
```
    Reset the Yaw gyro.
    Resets the Gyro Z (Yaw) axis to a heading of zero. This can be used if there is significant drift in the gyro and it needs to be recalibrated after it has been running.
    
    Specified by:
    
    reset in interface edu.wpi.first.wpilibj.interfaces.Gyro
  - getRawGyroX
```
public float getRawGyroX()
```
    Returns the current raw (unprocessed) X-axis gyro rotation rate (in degrees/sec). NOTE: this value is un-processed, and should only be accessed by advanced users. Typically, rotation about the X Axis is referred to as "Pitch". Calibrated and Integrated Pitch data is accessible via the getPitch() method.
    
    Returns:
    
    Returns the current rotation rate (in degrees/sec).
  - getRawGyroY
```
public float getRawGyroY()
```
    Returns the current raw (unprocessed) Y-axis gyro rotation rate (in degrees/sec). NOTE: this value is un-processed, and should only be accessed by advanced users. Typically, rotation about the T Axis is referred to as "Roll". Calibrated and Integrated Pitch data is accessible via the getRoll() method.
    
    Returns:
    
    Returns the current rotation rate (in degrees/sec).
  - getRawGyroZ
```
public float getRawGyroZ()
```
    Returns the current raw (unprocessed) Z-axis gyro rotation rate (in degrees/sec). NOTE: this value is un-processed, and should only be accessed by advanced users. Typically, rotation about the T Axis is referred to as "Yaw". Calibrated and Integrated Pitch data is accessible via the getYaw() method.
    
    Returns:
    
    Returns the current rotation rate (in degrees/sec).
  - getRawAccelX
```
public float getRawAccelX()
```
    Returns the current raw (unprocessed) X-axis acceleration rate (in G). NOTE: this value is unprocessed, and should only be accessed by advanced users. This raw value has not had acceleration due to gravity removed from it, and has not been rotated to the world reference frame. Gravity-corrected, world reference frame-corrected X axis acceleration data is accessible via the getWorldLinearAccelX() method.
    
    Returns:
    
    Returns the current acceleration rate (in G).
  - getRawAccelY
```
public float getRawAccelY()
```
    Returns the current raw (unprocessed) Y-axis acceleration rate (in G). NOTE: this value is unprocessed, and should only be accessed by advanced users. This raw value has not had acceleration due to gravity removed from it, and has not been rotated to the world reference frame. Gravity-corrected, world reference frame-corrected Y axis acceleration data is accessible via the getWorldLinearAccelY() method.
    
    Returns:
    
    Returns the current acceleration rate (in G).
  - getRawAccelZ
```
public float getRawAccelZ()
```
    Returns the current raw (unprocessed) Z-axis acceleration rate (in G). NOTE: this value is unprocessed, and should only be accessed by advanced users. This raw value has not had acceleration due to gravity removed from it, and has not been rotated to the world reference frame. Gravity-corrected, world reference frame-corrected Z axis acceleration data is accessible via the getWorldLinearAccelZ() method.
    
    Returns:
    
    Returns the current acceleration rate (in G).
  - getRawMagX
```
public float getRawMagX()
```
    Returns the current raw (unprocessed) X-axis magnetometer reading (in uTesla). NOTE: this value is unprocessed, and should only be accessed by advanced users. This raw value has not been tilt-corrected, and has not been combined with the other magnetometer axis data to yield a compass heading. Tilt-corrected compass heading data is accessible via the getCompassHeading() method.
    
    Returns:
    
    Returns the mag field strength (in uTesla).
  - getRawMagY
```
public float getRawMagY()
```
    Returns the current raw (unprocessed) Y-axis magnetometer reading (in uTesla). NOTE: this value is unprocessed, and should only be accessed by advanced users. This raw value has not been tilt-corrected, and has not been combined with the other magnetometer axis data to yield a compass heading. Tilt-corrected compass heading data is accessible via the getCompassHeading() method.
    
    Returns:
    
    Returns the mag field strength (in uTesla).
  - getRawMagZ
```
public float getRawMagZ()
```
    Returns the current raw (unprocessed) Z-axis magnetometer reading (in uTesla). NOTE: this value is unprocessed, and should only be accessed by advanced users. This raw value has not been tilt-corrected, and has not been combined with the other magnetometer axis data to yield a compass heading. Tilt-corrected compass heading data is accessible via the getCompassHeading() method.
    
    Returns:
    
    Returns the mag field strength (in uTesla).
  - getPressure
```
public float getPressure()
```
    Returns the current barometric pressure (in millibar) [navX Aero only].
    This value is valid only if a barometric pressure sensor is onboard.
    
    Returns:
    
    Returns the current barometric pressure (in millibar).
  - getTempC
```
public float getTempC()
```
    Returns the current temperature (in degrees centigrade) reported by the sensor's gyro/accelerometer circuit.
    This value may be useful in order to perform advanced temperature- correction of raw gyroscope and accelerometer values.
    
    Returns:
    
    The current temperature (in degrees centigrade).
  - getBoardYawAxis
```
public AHRS.BoardYawAxis getBoardYawAxis()
```
    Returns information regarding which sensor board axis (X,Y or Z) and direction (up/down) is currently configured to report Yaw (Z) angle values. NOTE: If the board firmware supports Omnimount, the board yaw axis/direction are configurable.
    For more information on Omnimount, please see:
    http://navx-mxp.kauailabs.com/navx-mxp/installation/omnimount/
    
    Returns:
    
    The currently-configured board yaw axis/direction.
  - getFirmwareVersion
```
public java.lang.String getFirmwareVersion()
```
    Returns the version number of the firmware currently executing on the sensor.
    To update the firmware to the latest version, please see:
    http://navx-mxp.kauailabs.com/navx-mxp/support/updating-firmware/
    
    Returns:
    
    The firmware version in the format [MajorVersion].[MinorVersion]
  - enableLogging
```
public void enableLogging(boolean enable)
```
    Enables or disables logging (via Console I/O) of AHRS library internal behaviors, including events such as transient communication errors.
    
    Parameters:
    
    enable - true to enable logging; false to disable logging
  - enableBoardlevelYawReset
```
public void enableBoardlevelYawReset(boolean enable)
```
    Enables or disables board-level yaw zero (reset) requests. Board-level yaw resets are processed by the sensor board and the resulting yaw angle may not be available to the client software until at least 2 update cycles have occurred. Board-level yaw resets however do maintain synchronization between the yaw angle and the sensor-generated Quaternion and Fused Heading values. Conversely, Software-based yaw resets occur instantaneously; however, Software- based yaw resets do not update the yaw angle component of the sensor-generated Quaternion values or the Fused Heading values.
    
    Parameters:
    
    enable - true to enable board-level yaw resets; false to enable software-based yaw resets.
  - isBoardlevelYawResetEnabled
```
public boolean isBoardlevelYawResetEnabled()
```
    Returns true if Board-level yaw resets are enabled. Conversely, returns false if Software-based yaw resets are active.
    
    Returns:
    
    true if Board-level yaw resets are enabled; false if software-based yaw resets are active.
  - getGyroFullScaleRangeDPS
```
public short getGyroFullScaleRangeDPS()
```
    Returns the sensor full scale range (in degrees per second) of the X, Y and X-axis gyroscopes.
    
    Returns:
    
    gyroscope full scale range in degrees/second.
  - getAccelFullScaleRangeG
```
public short getAccelFullScaleRangeG()
```
    Returns the sensor full scale range (in G) of the X, Y and X-axis accelerometers.
    
    Returns:
    
    accelerometer full scale range in G.
  - initSendable
```
public void initSendable(edu.wpi.first.util.sendable.SendableBuilder builder)
```
    Initializes smart dashboard communication.
    
    Specified by:
    
    initSendable in interface edu.wpi.first.util.sendable.Sendable
    
    Parameters:
    
    builder - The SendableBuilder which will be registered with.
  - close
```
public void close()
```
    Specified by:
    
    close in interface java.lang.AutoCloseable
  - calibrate
```
public void calibrate()
```
    Specified by:
    
    calibrate in interface edu.wpi.first.wpilibj.interfaces.Gyro

Class AHRS

Nested Class Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Methods inherited from interface edu.wpi.first.wpilibj.interfaces.Gyro

Constructor Detail

AHRS

AHRS

AHRS

AHRS

AHRS

AHRS

AHRS

AHRS

Method Detail

getPitch

getRoll

getYaw

getCompassHeading

zeroYaw

isCalibrating

isConnected

getByteCount

getActualUpdateRate

getRequestedUpdateRate

getUpdateCount

getLastSensorTimestamp

getWorldLinearAccelX

getWorldLinearAccelY

getWorldLinearAccelZ

isMoving

isRotating

getBarometricPressure

getAltitude

isAltitudeValid

getFusedHeading

isMagneticDisturbance

isMagnetometerCalibrated

getQuaternionW

getQuaternionX

getQuaternionY

getQuaternionZ

resetDisplacement

getVelocityX

getVelocityY

getVelocityZ

getDisplacementX

getDisplacementY

getDisplacementZ

registerCallback

deregisterCallback

getAngle

getRate

setAngleAdjustment

getAngleAdjustment

reset

getRawGyroX

getRawGyroY

getRawGyroZ

getRawAccelX

getRawAccelY

getRawAccelZ

getRawMagX

getRawMagY

getRawMagZ

getPressure

getTempC

getBoardYawAxis

getFirmwareVersion

enableLogging

enableBoardlevelYawReset

isBoardlevelYawResetEnabled

getGyroFullScaleRangeDPS

getAccelFullScaleRangeG

initSendable

close

calibrate