Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-05 03:21:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Clean up numeric constants

Browse Source
This commit is contained in:
Gold856
2024-06-05 23:11:11 -04:00
parent 9c933f88a9
commit 0f1c62f2ce
6 changed files with 44 additions and 44 deletions
Download Patch File Download Diff File Expand all files Collapse all files

20
wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
View File

@@ -659,12 +659,12 @@ void ADIS16448_IMU::Acquire() {
double temp = BuffToShort(&buffer[i + 25]) * 0.07386 + 31.0;
// Convert scaled sensor data to SI units
double gyro_rate_x_si = gyro_rate_x * deg_to_rad;
double gyro_rate_y_si = gyro_rate_y * deg_to_rad;
// double gyro_rate_z_si = gyro_rate_z * deg_to_rad;
double accel_x_si = accel_x * grav;
double accel_y_si = accel_y * grav;
double accel_z_si = accel_z * grav;
double gyro_rate_x_si = gyro_rate_x * kDegToRad;
double gyro_rate_y_si = gyro_rate_y * kDegToRad;
// double gyro_rate_z_si = gyro_rate_z * kDegToRad;
double accel_x_si = accel_x * kGrav;
double accel_y_si = accel_y * kGrav;
double accel_z_si = accel_z * kGrav;
// Store timestamp for next iteration
previous_timestamp = buffer[i];
// Calculate alpha for use with the complementary filter
@@ -718,10 +718,10 @@ void ADIS16448_IMU::Acquire() {
m_mag_z = mag_z;
m_baro = baro;
m_temp = temp;
m_compAngleX = compAngleX * rad_to_deg;
m_compAngleY = compAngleY * rad_to_deg;
m_accelAngleX = accelAngleX * rad_to_deg;
m_accelAngleY = accelAngleY * rad_to_deg;
m_compAngleX = compAngleX * kRadToDeg;
m_compAngleY = compAngleY * kRadToDeg;
m_accelAngleX = accelAngleX * kRadToDeg;
m_accelAngleY = accelAngleY * kRadToDeg;
// Accumulate gyro for angle integration and publish to global
// variables
m_integ_gyro_angle_x +=

20
wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
View File

@@ -685,12 +685,12 @@ void ADIS16470_IMU::Acquire() {
double accel_z = BuffToShort(&buffer[i + 25]) / 800.0;
// Convert scaled sensor data to SI units
double gyro_rate_x_si = gyro_rate_x * deg_to_rad;
double gyro_rate_y_si = gyro_rate_y * deg_to_rad;
// double gyro_rate_z_si = gyro_rate_z * deg_to_rad;
double accel_x_si = accel_x * grav;
double accel_y_si = accel_y * grav;
double accel_z_si = accel_z * grav;
double gyro_rate_x_si = gyro_rate_x * kDegToRad;
double gyro_rate_y_si = gyro_rate_y * kDegToRad;
// double gyro_rate_z_si = gyro_rate_z * kDegToRad;
double accel_x_si = accel_x * kGrav;
double accel_y_si = accel_y * kGrav;
double accel_z_si = accel_z * kGrav;
// Store timestamp for next iteration
previous_timestamp = buffer[i];
@@ -734,10 +734,10 @@ void ADIS16470_IMU::Acquire() {
m_accel_x = accel_x;
m_accel_y = accel_y;
m_accel_z = accel_z;
m_compAngleX = compAngleX * rad_to_deg;
m_compAngleY = compAngleY * rad_to_deg;
m_accelAngleX = accelAngleX * rad_to_deg;
m_accelAngleY = accelAngleY * rad_to_deg;
m_compAngleX = compAngleX * kRadToDeg;
m_compAngleY = compAngleY * kRadToDeg;
m_accelAngleX = accelAngleX * kRadToDeg;
m_accelAngleY = accelAngleY * kRadToDeg;
}
m_first_run = false;
}

6
wpilibc/src/main/native/include/frc/ADIS16448_IMU.h
View File

@@ -338,9 +338,9 @@ class ADIS16448_IMU : public wpi::Sendable,
static constexpr uint8_t SERIAL_NUM = 0x58; // Lot-specific serial number
/** @brief ADIS16448 Static Constants */
static constexpr double rad_to_deg = 57.2957795;
static constexpr double deg_to_rad = 0.0174532;
static constexpr double grav = 9.81;
static constexpr double kRadToDeg = 57.2957795;
static constexpr double kDegToRad = 0.0174532;
static constexpr double kGrav = 9.81;
/** @brief struct to store offset data */
struct OffsetData {

6
wpilibc/src/main/native/include/frc/ADIS16470_IMU.h
View File

@@ -420,9 +420,9 @@ class ADIS16470_IMU : public wpi::Sendable,
Y_ACCL_OUT, FLASH_CNT, Z_ACCL_OUT, FLASH_CNT};
static constexpr double delta_angle_sf = 2160.0 / 2147483648.0;
static constexpr double rad_to_deg = 57.2957795;
static constexpr double deg_to_rad = 0.0174532;
static constexpr double grav = 9.81;
static constexpr double kRadToDeg = 57.2957795;
static constexpr double kDegToRad = 0.0174532;
static constexpr double kGrav = 9.81;
// Resources
DigitalInput* m_reset_in = nullptr;

14
wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java
View File

@@ -118,7 +118,7 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
kZ
}
private static final double grav = 9.81;
private static final double kGrav = 9.81;
// User-specified yaw axis
private IMUAxis m_yaw_axis;
@@ -752,9 +752,9 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
double gyro_rate_x_si = Math.toRadians(gyro_rate_x);
double gyro_rate_y_si = Math.toRadians(gyro_rate_y);
// double gyro_rate_z_si = Math.toRadians(gyro_rate_z);
double accel_x_si = accel_x * grav;
double accel_y_si = accel_y * grav;
double accel_z_si = accel_z * grav;
double accel_x_si = accel_x * kGrav;
double accel_y_si = accel_y * kGrav;
double accel_z_si = accel_z * kGrav;
// Store timestamp for next iteration
previous_timestamp = buffer[i];
// Calculate alpha for use with the complementary filter
@@ -963,7 +963,7 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
if (m_simAccelX != null) {
return m_simAccelX.get();
}
return m_accel_x * 9.81;
return m_accel_x * kGrav;
}
/**
@@ -975,7 +975,7 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
if (m_simAccelY != null) {
return m_simAccelY.get();
}
return m_accel_y * 9.81;
return m_accel_y * kGrav;
}
/**
@@ -987,7 +987,7 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
if (m_simAccelZ != null) {
return m_simAccelZ.get();
}
return m_accel_z * 9.81;
return m_accel_z * kGrav;
}
/**

22
wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
View File

@@ -181,8 +181,8 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
}
// Static Constants
private static final double delta_angle_sf = 2160.0 / 2147483648.0; // 2160 / (2^31)
private static final double grav = 9.81;
private static final double kDeltaAngleSf = 2160.0 / 2147483648.0; // 2160 / (2^31)
private static final double kGrav = 9.81;
// User-specified axes
private IMUAxis m_yaw_axis;
@@ -713,15 +713,15 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
double elapsed_time = m_scaled_sample_rate / (buffer[i] - previous_timestamp);
double delta_angle_x =
toInt(buffer[i + 3], buffer[i + 4], buffer[i + 5], buffer[i + 6])
* delta_angle_sf
* kDeltaAngleSf
/ elapsed_time;
double delta_angle_y =
toInt(buffer[i + 7], buffer[i + 8], buffer[i + 9], buffer[i + 10])
* delta_angle_sf
* kDeltaAngleSf
/ elapsed_time;
double delta_angle_z =
toInt(buffer[i + 11], buffer[i + 12], buffer[i + 13], buffer[i + 14])
* delta_angle_sf
* kDeltaAngleSf
/ elapsed_time;
double gyro_rate_x = toShort(buffer[i + 15], buffer[i + 16]) / 10.0;
@@ -737,9 +737,9 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
double gyro_rate_x_si = Math.toRadians(gyro_rate_x);
double gyro_rate_y_si = Math.toRadians(gyro_rate_y);
// double gyro_rate_z_si = Math.toRadians(gyro_rate_z);
double accel_x_si = accel_x * grav;
double accel_y_si = accel_y * grav;
double accel_z_si = accel_z * grav;
double accel_x_si = accel_x * kGrav;
double accel_y_si = accel_y * kGrav;
double accel_z_si = accel_z * kGrav;
// Store timestamp for next iteration
previous_timestamp = buffer[i];
@@ -1019,7 +1019,7 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
* @return The acceleration in the X axis in meters per second squared.
*/
public synchronized double getAccelX() {
return m_accel_x * 9.81;
return m_accel_x * kGrav;
}
/**
@@ -1028,7 +1028,7 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
* @return The acceleration in the Y axis in meters per second squared.
*/
public synchronized double getAccelY() {
return m_accel_y * 9.81;
return m_accel_y * kGrav;
}
/**
@@ -1037,7 +1037,7 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
* @return The acceleration in the Z axis in meters per second squared.
*/
public synchronized double getAccelZ() {
return m_accel_z * 9.81;
return m_accel_z * kGrav;
}
/**