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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();
}
}