Moves Gyros to the HAL (#131)

hal/include/HAL/AnalogGyro.h

@@ -0,0 +1,32 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <stdint.h>
+
+#include "HAL/Handles.h"
+
+extern "C" {
+HalGyroHandle initializeAnalogGyro(HalAnalogInputHandle handle,
+                                   int32_t* status);
+void setupAnalogGyro(HalGyroHandle handle, int32_t* status);
+void freeAnalogGyro(HalGyroHandle handle);
+void setAnalogGyroParameters(HalGyroHandle handle,
+                             float voltsPerDegreePerSecond, float offset,
+                             uint32_t center, int32_t* status);
+void setAnalogGyroVoltsPerDegreePerSecond(HalGyroHandle handle,
+                                          float voltsPerDegreePerSecond,
+                                          int32_t* status);
+void resetAnalogGyro(HalGyroHandle handle, int32_t* status);
+void calibrateAnalogGyro(HalGyroHandle handle, int32_t* status);
+void setAnalogGyroDeadband(HalGyroHandle handle, float volts, int32_t* status);
+float getAnalogGyroAngle(HalGyroHandle handle, int32_t* status);
+double getAnalogGyroRate(HalGyroHandle handle, int32_t* status);
+float getAnalogGyroOffset(HalGyroHandle handle, int32_t* status);
+uint32_t getAnalogGyroCenter(HalGyroHandle handle, int32_t* status);
+}

hal/include/HAL/HAL.h

@@ -11,6 +11,7 @@
 
 #include "Accelerometer.h"
 #include "AnalogAccumulator.h"
+#include "AnalogGyro.h"
 #include "AnalogInput.h"
 #include "AnalogOutput.h"
 #include "AnalogTrigger.h"

hal/include/HAL/Handles.h

@@ -40,3 +40,5 @@ typedef HalHandle HalSolenoidHandle;
 typedef HalHandle HalFPGAEncoderHandle;
 
 typedef HalHandle HalEncoderHandle;
+
+typedef HalHandle HalGyroHandle;