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Fixed current and potential bugs caught by Coverity

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Change-Id: I9f9d09dc797ffea062eeb49c881be1d5acb63d7b
This commit is contained in:
Tyler Veness
2015-11-15 14:49:50 -08:00
committed by Peter Johnson
parent b0fec4089b
commit 055ee09825
34 changed files with 105 additions and 65 deletions
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11
wpilibc/Athena/src/AnalogGyro.cpp
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@@ -88,7 +88,10 @@ AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel)
* significant
* drift in the gyro and it needs to be recalibrated after it has been running.
*/
void AnalogGyro::Reset() { m_analog->ResetAccumulator(); }
void AnalogGyro::Reset() {
if (StatusIsFatal()) return;
m_analog->ResetAccumulator();
}
/**
* {@inheritDoc}
@@ -127,6 +130,8 @@ void AnalogGyro::Calibrate() {
* of the returned rate from the gyro.
*/
float AnalogGyro::GetAngle() const {
if (StatusIsFatal()) return 0.f;
int64_t rawValue;
uint32_t count;
m_analog->GetAccumulatorOutput(rawValue, count);
@@ -148,6 +153,8 @@ float AnalogGyro::GetAngle() const {
* @return the current rate in degrees per second
*/
double AnalogGyro::GetRate() const {
if (StatusIsFatal()) return 0.0;
return (m_analog->GetAverageValue() - ((double)m_center + m_offset)) * 1e-9 *
m_analog->GetLSBWeight() /
((1 << m_analog->GetOversampleBits()) * m_voltsPerDegreePerSecond);
@@ -176,6 +183,8 @@ void AnalogGyro::SetSensitivity(float voltsPerDegreePerSecond) {
* @param volts The size of the deadband in volts
*/
void AnalogGyro::SetDeadband(float volts) {
if (StatusIsFatal()) return;
int32_t deadband = volts * 1e9 / m_analog->GetLSBWeight() *
(1 << m_analog->GetOversampleBits());
m_analog->SetAccumulatorDeadband(deadband);