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Moves Gyros to the HAL (#131)

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This commit is contained in:
Thad House
2016-07-07 21:31:45 -07:00
committed by Peter Johnson
parent b036bf2e34
commit 0a983eeeb8
12 changed files with 632 additions and 127 deletions
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82
wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogGyro.java
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@@ -9,6 +9,7 @@ package edu.wpi.first.wpilibj;
import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
import edu.wpi.first.wpilibj.communication.UsageReporting;
import edu.wpi.first.wpilibj.hal.AnalogGyroJNI;
import edu.wpi.first.wpilibj.interfaces.Gyro;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
@@ -24,34 +25,22 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
*/
public class AnalogGyro extends GyroBase implements Gyro, PIDSource, LiveWindowSendable {
private static final int kOversampleBits = 10;
private static final int kAverageBits = 0;
private static final double kSamplesPerSecond = 50.0;
private static final double kCalibrationSampleTime = 5.0;
private static final double kDefaultVoltsPerDegreePerSecond = 0.007;
private static final float kDefaultVoltsPerDegreePerSecond = 0.007f;
protected AnalogInput m_analog;
private double m_voltsPerDegreePerSecond;
private double m_offset;
private int m_center;
private boolean m_channelAllocated = false;
private AccumulatorResult m_result;
private int m_gyroHandle = 0;
/**
* Initialize the gyro. Calibration is handled by calibrate().
*/
public void initGyro() {
m_result = new AccumulatorResult();
if (m_gyroHandle == 0) {
m_gyroHandle = AnalogGyroJNI.initializeAnalogGyro(m_analog.m_port);
}
m_voltsPerDegreePerSecond = kDefaultVoltsPerDegreePerSecond;
m_analog.setAverageBits(kAverageBits);
m_analog.setOversampleBits(kOversampleBits);
double sampleRate = kSamplesPerSecond * (1 << (kAverageBits + kOversampleBits));
AnalogInput.setGlobalSampleRate(sampleRate);
Timer.delay(0.1);
setDeadband(0.0);
setPIDSourceType(PIDSourceType.kDisplacement);
AnalogGyroJNI.setupAnalogGyro(m_gyroHandle);
UsageReporting.report(tResourceType.kResourceType_Gyro, m_analog.getChannel());
LiveWindow.addSensor("AnalogGyro", m_analog.getChannel(), this);
@@ -59,19 +48,7 @@ public class AnalogGyro extends GyroBase implements Gyro, PIDSource, LiveWindowS
@Override
public void calibrate() {
m_analog.initAccumulator();
m_analog.resetAccumulator();
Timer.delay(kCalibrationSampleTime);
m_analog.getAccumulatorOutput(m_result);
m_center = (int) ((double) m_result.value / (double) m_result.count + .5);
m_offset = ((double) m_result.value / (double) m_result.count) - m_center;
m_analog.setAccumulatorCenter(m_center);
m_analog.resetAccumulator();
AnalogGyroJNI.calibrateAnalogGyro(m_gyroHandle);
}
/**
@@ -130,18 +107,14 @@ public class AnalogGyro extends GyroBase implements Gyro, PIDSource, LiveWindowS
throw new NullPointerException("AnalogInput supplied to Gyro constructor is null");
}
initGyro();
m_offset = offset;
m_center = center;
m_analog.setAccumulatorCenter(m_center);
m_analog.resetAccumulator();
AnalogGyroJNI.setAnalogGyroParameters(m_gyroHandle, kDefaultVoltsPerDegreePerSecond,
(float)offset, center);
reset();
}
@Override
public void reset() {
if (m_analog != null) {
m_analog.resetAccumulator();
}
AnalogGyroJNI.resetAnalogGyro(m_gyroHandle);
}
/**
@@ -153,22 +126,15 @@ public class AnalogGyro extends GyroBase implements Gyro, PIDSource, LiveWindowS
m_analog.free();
}
m_analog = null;
AnalogGyroJNI.freeAnalogGyro(m_gyroHandle);
}
@Override
public synchronized double getAngle() {
public double getAngle() {
if (m_analog == null) {
return 0.0;
} else {
m_analog.getAccumulatorOutput(m_result);
long value = m_result.value - (long) (m_result.count * m_offset);
double scaledValue =
value * 1e-9 * m_analog.getLSBWeight() * (1 << m_analog.getAverageBits())
/ (AnalogInput.getGlobalSampleRate() * m_voltsPerDegreePerSecond);
return scaledValue;
return AnalogGyroJNI.getAnalogGyroAngle(m_gyroHandle);
}
}
@@ -177,8 +143,7 @@ public class AnalogGyro extends GyroBase implements Gyro, PIDSource, LiveWindowS
if (m_analog == null) {
return 0.0;
} else {
return (m_analog.getAverageValue() - (m_center + m_offset)) * 1e-9 * m_analog.getLSBWeight()
/ ((1 << m_analog.getOversampleBits()) * m_voltsPerDegreePerSecond);
return AnalogGyroJNI.getAnalogGyroRate(m_gyroHandle);
}
}
@@ -188,7 +153,7 @@ public class AnalogGyro extends GyroBase implements Gyro, PIDSource, LiveWindowS
* @return the current offset value
*/
public double getOffset() {
return m_offset;
return AnalogGyroJNI.getAnalogGyroOffset(m_gyroHandle);
}
/**
@@ -197,7 +162,7 @@ public class AnalogGyro extends GyroBase implements Gyro, PIDSource, LiveWindowS
* @return the current center value
*/
public int getCenter() {
return m_center;
return AnalogGyroJNI.getAnalogGyroCenter(m_gyroHandle);
}
/**
@@ -208,7 +173,8 @@ public class AnalogGyro extends GyroBase implements Gyro, PIDSource, LiveWindowS
* @param voltsPerDegreePerSecond The sensitivity in Volts/degree/second.
*/
public void setSensitivity(double voltsPerDegreePerSecond) {
m_voltsPerDegreePerSecond = voltsPerDegreePerSecond;
AnalogGyroJNI.setAnalogGyroVoltsPerDegreePerSecond(m_gyroHandle,
(float)voltsPerDegreePerSecond);
}
/**
@@ -219,8 +185,6 @@ public class AnalogGyro extends GyroBase implements Gyro, PIDSource, LiveWindowS
* @param volts The size of the deadband in volts
*/
void setDeadband(double volts) {
int deadband =
(int) (volts * 1e9 / m_analog.getLSBWeight() * (1 << m_analog.getOversampleBits()));
m_analog.setAccumulatorDeadband(deadband);
AnalogGyroJNI.setAnalogGyroDeadband(m_gyroHandle, (float)volts);
}
}

37
wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/AnalogGyroJNI.java Normal file
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@@ -0,0 +1,37 @@
/*----------------------------------------------------------------------------*/
/* 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.hal;
public class AnalogGyroJNI extends JNIWrapper {
public static native int initializeAnalogGyro(int halAnalogInputHandle);
public static native void setupAnalogGyro(int handle);
public static native void freeAnalogGyro(int handle);
public static native void setAnalogGyroParameters(int handle,
float voltsPerDegreePerSecond,
float offset, int center);
public static native void setAnalogGyroVoltsPerDegreePerSecond(int handle,
float voltsPerDegreePerSecond);
public static native void resetAnalogGyro(int handle);
public static native void calibrateAnalogGyro(int handle);
public static native void setAnalogGyroDeadband(int handle, float volts);
public static native float getAnalogGyroAngle(int handle);
public static native double getAnalogGyroRate(int handle);
public static native float getAnalogGyroOffset(int handle);
public static native int getAnalogGyroCenter(int handle);
}