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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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89
wpilibc/src/main/native/cpp/romi/RomiGyro.cpp
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@@ -1,89 +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.
#include "frc/romi/RomiGyro.h"
using namespace frc;
RomiGyro::RomiGyro() : m_simDevice("Gyro:RomiGyro") {
if (m_simDevice) {
m_simDevice.CreateBoolean("init", hal::SimDevice::kOutput, true);
m_simRateX =
m_simDevice.CreateDouble("rate_x", hal::SimDevice::kInput, 0.0);
m_simRateY =
m_simDevice.CreateDouble("rate_y", hal::SimDevice::kInput, 0.0);
m_simRateZ =
m_simDevice.CreateDouble("rate_z", hal::SimDevice::kInput, 0.0);
m_simAngleX =
m_simDevice.CreateDouble("angle_x", hal::SimDevice::kInput, 0.0);
m_simAngleY =
m_simDevice.CreateDouble("angle_y", hal::SimDevice::kInput, 0.0);
m_simAngleZ =
m_simDevice.CreateDouble("angle_z", hal::SimDevice::kInput, 0.0);
}
}
double RomiGyro::GetAngle() const {
return GetAngleZ();
}
double RomiGyro::GetRate() const {
return GetRateZ();
}
double RomiGyro::GetRateX() const {
if (m_simRateX) {
return m_simRateX.Get();
}
return 0.0;
}
double RomiGyro::GetRateY() const {
if (m_simRateY) {
return m_simRateY.Get();
}
return 0.0;
}
double RomiGyro::GetRateZ() const {
if (m_simRateZ) {
return m_simRateZ.Get();
}
return 0.0;
}
double RomiGyro::GetAngleX() const {
if (m_simAngleX) {
return m_simAngleX.Get() - m_angleXOffset;
}
return 0.0;
}
double RomiGyro::GetAngleY() const {
if (m_simAngleY) {
return m_simAngleY.Get() - m_angleYOffset;
}
return 0.0;
}
double RomiGyro::GetAngleZ() const {
if (m_simAngleZ) {
return m_simAngleZ.Get() - m_angleZOffset;
}
return 0.0;
}
void RomiGyro::Reset() {
if (m_simAngleX) {
m_angleXOffset = m_simAngleX.Get();
m_angleYOffset = m_simAngleY.Get();
m_angleZOffset = m_simAngleZ.Get();
}
}

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