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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