Class ChassisFieldYawSystem

• Defined in File chassis_field_yaw_system.hpp

Nested Relationships

Nested Types

• Struct ChassisFieldYawSystem::Config

Inheritance Relationships

Base Type

• public IFieldYawSystem

Derived Type

• public fang::turret::GM6020FieldYawSystem (Class GM6020FieldYawSystem)

Class Documentation

class ChassisFieldYawSystem : public virtual IFieldYawSystem

This is for a yaw system who’s IMU is attached to the chassis and the yaw is parallel to the chassis z axis.

Assume that with the axis pointing up, the positive yaw counterclockwise

Subclassed by fang::turret::GM6020FieldYawSystem

Public Types

using Motor = motor::IPositionMotor

using Imu = trap::communication::sensors::IImu

Public Functions

ChassisFieldYawSystem(std::unique_ptr<Motor> motor, std::unique_ptr<Imu> chassisImu, const Config &config)

void initialize() override

void update() override

void setTargetFieldYaw(const Radians &yaw) override

struct Config

Public Members

Radians yawError