Add Roadrunner

TeamCode/util/AxesSigns.java

@@ -0,0 +1,45 @@
+package org.firstinspires.ftc.teamcode.util;
+
+/**
+ * IMU axes signs in the order XYZ (after remapping).
+ */
+public enum AxesSigns {
+    PPP(0b000),
+    PPN(0b001),
+    PNP(0b010),
+    PNN(0b011),
+    NPP(0b100),
+    NPN(0b101),
+    NNP(0b110),
+    NNN(0b111);
+
+    public final int bVal;
+
+    AxesSigns(int bVal) {
+        this.bVal = bVal;
+    }
+
+    public static AxesSigns fromBinaryValue(int bVal) {
+        int maskedVal = bVal & 0x07;
+        switch (maskedVal) {
+            case 0b000:
+                return AxesSigns.PPP;
+            case 0b001:
+                return AxesSigns.PPN;
+            case 0b010:
+                return AxesSigns.PNP;
+            case 0b011:
+                return AxesSigns.PNN;
+            case 0b100:
+                return AxesSigns.NPP;
+            case 0b101:
+                return AxesSigns.NPN;
+            case 0b110:
+                return AxesSigns.NNP;
+            case 0b111:
+                return AxesSigns.NNN;
+            default:
+                throw new IllegalStateException("Unexpected value for maskedVal: " + maskedVal);
+        }
+    }
+}