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[wpilib] Revert move of RomiGyro into main wpilibc/j (#3296)

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This reverts commit 69e8d0b65d (#3143).

We haven't released a version with this yet, and plan to make a vendor
library instead.
This commit is contained in:
Peter Johnson
2021-04-10 10:27:44 -07:00
committed by GitHub
parent a1c87e1e15
commit 01d0e12603
6 changed files with 82 additions and 157 deletions
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101
wpilibc/src/main/native/include/frc/romi/RomiGyro.h
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@@ -1,101 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include <hal/SimDevice.h>
#include "frc/GyroBase.h"
namespace frc {
/**
* Use a rate gyro to return the robots heading relative to a starting position.
*
* This class is for the Romi onboard gyro, and will only work in
* simulation/Romi mode. Only one instance of a RomiGyro is supported.
*/
class RomiGyro : public GyroBase {
public:
RomiGyro();
/**
* Return the actual angle in degrees that the robot is currently facing.
*
* The angle is based on integration of the returned rate form the gyro.
* The angle is continuous, that is, it will continue from 360->361 degrees.
* This allows algorithms that wouldn't want to see a discontinuity in the
* gyro output as it sweeps from 360 to 0 on the second time around.
*
* @return the current heading of the robot in degrees.
*/
double GetAngle() const override;
/**
* Return the rate of rotation of the gyro
*
* The rate is based on the most recent reading of the gyro.
*
* @return the current rate in degrees per second
*/
double GetRate() const override;
/**
* Initialize the gyro.
*
* NOTE: This function is a no-op. The Romi gyro should be calibrated via
* the web UI.
*/
void Calibrate() final {}
/**
* Gets the rate of turn in degrees-per-second around the X-axis
*/
double GetRateX() const;
/**
* Gets the rate of turn in degrees-per-second around the Y-axis
*/
double GetRateY() const;
/**
* Gets the rate of turn in degrees-per-second around the Z-axis
*/
double GetRateZ() const;
/**
* Gets the currently reported angle around the X-axis
*/
double GetAngleX() const;
/**
* Gets the currently reported angle around the X-axis
*/
double GetAngleY() const;
/**
* Gets the currently reported angle around the X-axis
*/
double GetAngleZ() const;
/**
* Resets the gyro
*/
void Reset() override;
private:
hal::SimDevice m_simDevice;
hal::SimDouble m_simRateX;
hal::SimDouble m_simRateY;
hal::SimDouble m_simRateZ;
hal::SimDouble m_simAngleX;
hal::SimDouble m_simAngleY;
hal::SimDouble m_simAngleZ;
double m_angleXOffset = 0;
double m_angleYOffset = 0;
double m_angleZOffset = 0;
};
} // namespace frc

24
wpilibc/src/main/native/cpp/romi/RomiGyro.cpp → wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/sensors/RomiGyro.cpp
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@@ -2,9 +2,7 @@
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "frc/romi/RomiGyro.h"
using namespace frc;
#include "sensors/RomiGyro.h"
RomiGyro::RomiGyro() : m_simDevice("Gyro:RomiGyro") {
if (m_simDevice) {
@@ -24,15 +22,7 @@ RomiGyro::RomiGyro() : m_simDevice("Gyro:RomiGyro") {
}
}
double RomiGyro::GetAngle() const {
return GetAngleZ();
}
double RomiGyro::GetRate() const {
return GetRateZ();
}
double RomiGyro::GetRateX() const {
double RomiGyro::GetRateX() {
if (m_simRateX) {
return m_simRateX.Get();
}
@@ -40,7 +30,7 @@ double RomiGyro::GetRateX() const {
return 0.0;
}
double RomiGyro::GetRateY() const {
double RomiGyro::GetRateY() {
if (m_simRateY) {
return m_simRateY.Get();
}
@@ -48,7 +38,7 @@ double RomiGyro::GetRateY() const {
return 0.0;
}
double RomiGyro::GetRateZ() const {
double RomiGyro::GetRateZ() {
if (m_simRateZ) {
return m_simRateZ.Get();
}
@@ -56,7 +46,7 @@ double RomiGyro::GetRateZ() const {
return 0.0;
}
double RomiGyro::GetAngleX() const {
double RomiGyro::GetAngleX() {
if (m_simAngleX) {
return m_simAngleX.Get() - m_angleXOffset;
}
@@ -64,7 +54,7 @@ double RomiGyro::GetAngleX() const {
return 0.0;
}
double RomiGyro::GetAngleY() const {
double RomiGyro::GetAngleY() {
if (m_simAngleY) {
return m_simAngleY.Get() - m_angleYOffset;
}
@@ -72,7 +62,7 @@ double RomiGyro::GetAngleY() const {
return 0.0;
}
double RomiGyro::GetAngleZ() const {
double RomiGyro::GetAngleZ() {
if (m_simAngleZ) {
return m_simAngleZ.Get() - m_angleZOffset;
}

60
wpilibcExamples/src/main/cpp/examples/RomiReference/include/sensors/RomiGyro.h Normal file
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@@ -0,0 +1,60 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include <hal/SimDevice.h>
class RomiGyro {
public:
RomiGyro();
/**
* Gets the rate of turn in degrees-per-second around the X-axis
*/
double GetRateX();
/**
* Gets the rate of turn in degrees-per-second around the Y-axis
*/
double GetRateY();
/**
* Gets the rate of turn in degrees-per-second around the Z-axis
*/
double GetRateZ();
/**
* Gets the currently reported angle around the X-axis
*/
double GetAngleX();
/**
* Gets the currently reported angle around the X-axis
*/
double GetAngleY();
/**
* Gets the currently reported angle around the X-axis
*/
double GetAngleZ();
/**
* Resets the gyro
*/
void Reset();
private:
hal::SimDevice m_simDevice;
hal::SimDouble m_simRateX;
hal::SimDouble m_simRateY;
hal::SimDouble m_simRateZ;
hal::SimDouble m_simAngleX;
hal::SimDouble m_simAngleY;
hal::SimDouble m_simAngleZ;
double m_angleXOffset = 0;
double m_angleYOffset = 0;
double m_angleZOffset = 0;
};

5
wpilibcExamples/src/main/cpp/examples/RomiReference/include/subsystems/Drivetrain.h
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@@ -8,10 +8,11 @@
#include <frc/Encoder.h>
#include <frc/Spark.h>
#include <frc/drive/DifferentialDrive.h>
#include <frc/romi/RomiGyro.h>
#include <frc2/command/SubsystemBase.h>
#include <units/length.h>
#include "sensors/RomiGyro.h"
class Drivetrain : public frc2::SubsystemBase {
public:
static constexpr double kCountsPerRevolution = 1440.0;
@@ -116,6 +117,6 @@ class Drivetrain : public frc2::SubsystemBase {
frc::DifferentialDrive m_drive{m_leftMotor, m_rightMotor};
frc::RomiGyro m_gyro;
RomiGyro m_gyro;
frc::BuiltInAccelerometer m_accelerometer;
};

47
wpilibj/src/main/java/edu/wpi/first/wpilibj/romi/RomiGyro.java → wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/sensors/RomiGyro.java
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@@ -2,15 +2,13 @@
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.romi;
package edu.wpi.first.wpilibj.examples.romireference.sensors;
import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.hal.SimDevice.Direction;
import edu.wpi.first.hal.SimDouble;
import edu.wpi.first.wpilibj.GyroBase;
public class RomiGyro extends GyroBase {
private final SimDevice m_simDevice;
public class RomiGyro {
private SimDouble m_simRateX;
private SimDouble m_simRateY;
private SimDouble m_simRateZ;
@@ -24,16 +22,16 @@ public class RomiGyro extends GyroBase {
/** Create a new RomiGyro. */
public RomiGyro() {
m_simDevice = SimDevice.create("Gyro:RomiGyro");
if (m_simDevice != null) {
m_simDevice.createBoolean("init", Direction.kOutput, true);
m_simRateX = m_simDevice.createDouble("rate_x", Direction.kInput, 0.0);
m_simRateY = m_simDevice.createDouble("rate_y", Direction.kInput, 0.0);
m_simRateZ = m_simDevice.createDouble("rate_z", Direction.kInput, 0.0);
SimDevice gyroSimDevice = SimDevice.create("Gyro:RomiGyro");
if (gyroSimDevice != null) {
gyroSimDevice.createBoolean("init", Direction.kOutput, true);
m_simRateX = gyroSimDevice.createDouble("rate_x", Direction.kInput, 0.0);
m_simRateY = gyroSimDevice.createDouble("rate_y", Direction.kInput, 0.0);
m_simRateZ = gyroSimDevice.createDouble("rate_z", Direction.kInput, 0.0);
m_simAngleX = m_simDevice.createDouble("angle_x", Direction.kInput, 0.0);
m_simAngleY = m_simDevice.createDouble("angle_y", Direction.kInput, 0.0);
m_simAngleZ = m_simDevice.createDouble("angle_z", Direction.kInput, 0.0);
m_simAngleX = gyroSimDevice.createDouble("angle_x", Direction.kInput, 0.0);
m_simAngleY = gyroSimDevice.createDouble("angle_y", Direction.kInput, 0.0);
m_simAngleZ = gyroSimDevice.createDouble("angle_z", Direction.kInput, 0.0);
}
}
@@ -116,7 +114,6 @@ public class RomiGyro extends GyroBase {
}
/** Reset the gyro angles to 0. */
@Override
public void reset() {
if (m_simAngleX != null) {
m_angleXOffset = m_simAngleX.get();
@@ -124,26 +121,4 @@ public class RomiGyro extends GyroBase {
m_angleZOffset = m_simAngleZ.get();
}
}
@Override
public void calibrate() {
// no-op - Romi Gyro calibration is done via web UI
}
@Override
public double getAngle() {
return getAngleZ();
}
@Override
public double getRate() {
return getRateZ();
}
@Override
public void close() throws Exception {
if (m_simDevice != null) {
m_simDevice.close();
}
}
}

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/subsystems/Drivetrain.java
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@@ -8,7 +8,7 @@ import edu.wpi.first.wpilibj.BuiltInAccelerometer;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.romi.RomiGyro;
import edu.wpi.first.wpilibj.examples.romireference.sensors.RomiGyro;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Drivetrain extends SubsystemBase {