allwpilib/wpilibc/src/main/native/cpp/GyroBase.cpp

/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2017 FIRST. All Rights Reserved.                        */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

#include "GyroBase.h"

#include "SmartDashboard/SendableBuilder.h"
#include "WPIErrors.h"

using namespace frc;

/**
 * Get the PIDOutput for the PIDSource base object. Can be set to return
 * angle or rate using SetPIDSourceType(). Defaults to angle.
 *
 * @return The PIDOutput (angle or rate, defaults to angle)
 */
double GyroBase::PIDGet() {
  switch (GetPIDSourceType()) {
    case PIDSourceType::kRate:
      return GetRate();
    case PIDSourceType::kDisplacement:
      return GetAngle();
    default:
      return 0;
  }
}

void GyroBase::InitSendable(SendableBuilder& builder) {
  builder.SetSmartDashboardType("Gyro");
  builder.AddDoubleProperty("Value", [=]() { return GetAngle(); }, nullptr);
}