| Brian Silverman | 07ec88e | 2014-12-28 00:13:08 -0800 | [diff] [blame] | 1 | package frc971.sensors; |
| 2 | |
| 3 | message GyroReading { |
| 4 | // Positive is counter-clockwise (Austin says "it's Positive"). |
| 5 | // Right-hand coordinate system around the Z-axis going up. |
| Austin Schuh | c5a2375 | 2015-10-28 19:45:24 -0700 | [diff] [blame] | 6 | // The angle is measured in radians. |
| Brian Silverman | 07ec88e | 2014-12-28 00:13:08 -0800 | [diff] [blame] | 7 | double angle; |
| Austin Schuh | c5a2375 | 2015-10-28 19:45:24 -0700 | [diff] [blame] | 8 | // The angular velocity in radians/sec |
| 9 | double velocity; |
| Brian Silverman | 07ec88e | 2014-12-28 00:13:08 -0800 | [diff] [blame] | 10 | }; |
| 11 | queue GyroReading gyro_reading; |
| 12 | |
| Austin Schuh | cc1010e | 2019-05-12 20:38:01 -0700 | [diff] [blame^] | 13 | // Published on ".frc971.sensors.gyro_part_id" |
| Brian Silverman | 07ec88e | 2014-12-28 00:13:08 -0800 | [diff] [blame] | 14 | message Uid { |
| 15 | uint32_t uid; |
| 16 | }; |