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[wpilib] Add IsConnected function to all gyros (#4465)

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This commit is contained in:
Thad House
2022-10-24 20:04:16 -07:00
committed by GitHub
parent 1d2e8eb153
commit 11244a49d9
8 changed files with 66 additions and 0 deletions
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10
wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
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@@ -74,6 +74,8 @@ ADIS16448_IMU::ADIS16448_IMU(IMUAxis yaw_axis, SPI::Port port,
m_spi_port(port),
m_simDevice("Gyro:ADIS16448", port) {
if (m_simDevice) {
m_connected =
m_simDevice.CreateBoolean("connected", hal::SimDevice::kInput, true);
m_simGyroAngleX =
m_simDevice.CreateDouble("gyro_angle_x", hal::SimDevice::kInput, 0.0);
m_simGyroAngleY =
@@ -150,6 +152,14 @@ ADIS16448_IMU::ADIS16448_IMU(IMUAxis yaw_axis, SPI::Port port,
HAL_Report(HALUsageReporting::kResourceType_ADIS16448, 0);
wpi::SendableRegistry::AddLW(this, "ADIS16448", port);
m_connected = true;
}
bool ADIS16448_IMU::IsConnected() const {
if (m_simConnected) {
return m_simConnected.Get();
}
return m_connected;
}
/**

10
wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
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@@ -72,6 +72,8 @@ ADIS16470_IMU::ADIS16470_IMU(IMUAxis yaw_axis, SPI::Port port,
m_calibration_time(static_cast<uint16_t>(cal_time)),
m_simDevice("Gyro:ADIS16470", port) {
if (m_simDevice) {
m_connected =
m_simDevice.CreateBoolean("connected", hal::SimDevice::kInput, true);
m_simGyroAngleX =
m_simDevice.CreateDouble("gyro_angle_x", hal::SimDevice::kInput, 0.0);
m_simGyroAngleY =
@@ -147,6 +149,14 @@ ADIS16470_IMU::ADIS16470_IMU(IMUAxis yaw_axis, SPI::Port port,
HAL_Report(HALUsageReporting::kResourceType_ADIS16470, 0);
wpi::SendableRegistry::AddLW(this, "ADIS16470", port);
m_connected = true;
}
bool ADIS16470_IMU::IsConnected() const {
if (m_simConnected) {
return m_simConnected.Get();
}
return m_connected;
}
/**

10
wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp
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@@ -32,6 +32,8 @@ ADXRS450_Gyro::ADXRS450_Gyro() : ADXRS450_Gyro(SPI::kOnboardCS0) {}
ADXRS450_Gyro::ADXRS450_Gyro(SPI::Port port)
: m_spi(port), m_port(port), m_simDevice("Gyro:ADXRS450", port) {
if (m_simDevice) {
m_simConnected =
m_simDevice.CreateBoolean("connected", hal::SimDevice::kInput, true);
m_simAngle =
m_simDevice.CreateDouble("angle_x", hal::SimDevice::kInput, 0.0);
m_simRate = m_simDevice.CreateDouble("rate_x", hal::SimDevice::kInput, 0.0);
@@ -57,6 +59,14 @@ ADXRS450_Gyro::ADXRS450_Gyro(SPI::Port port)
HAL_Report(HALUsageReporting::kResourceType_ADXRS450, port + 1);
wpi::SendableRegistry::AddLW(this, "ADXRS450_Gyro", port);
m_connected = true;
}
bool ADXRS450_Gyro::IsConnected() const {
if (m_simConnected) {
return m_simConnected.Get();
}
return m_connected;
}
static bool CalcParity(int v) {

4
wpilibc/src/main/native/include/frc/ADIS16448_IMU.h
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@@ -205,6 +205,8 @@ class ADIS16448_IMU : public nt::NTSendable,
int SetYawAxis(IMUAxis yaw_axis);
bool IsConnected() const;
int ConfigDecRate(uint16_t DecimationRate);
/**
@@ -361,10 +363,12 @@ class ADIS16448_IMU : public nt::NTSendable,
CalibrationTime m_calibration_time{0};
SPI* m_spi = nullptr;
DigitalInput* m_auto_interrupt = nullptr;
bool m_connected{false};
std::thread m_acquire_task;
hal::SimDevice m_simDevice;
hal::SimBoolean m_simConnected;
hal::SimDouble m_simGyroAngleX;
hal::SimDouble m_simGyroAngleY;
hal::SimDouble m_simGyroAngleZ;

4
wpilibc/src/main/native/include/frc/ADIS16470_IMU.h
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@@ -159,6 +159,8 @@ class ADIS16470_IMU : public nt::NTSendable,
int SetYawAxis(IMUAxis yaw_axis);
bool IsConnected() const;
// IMU yaw axis
IMUAxis m_yaw_axis;
@@ -382,10 +384,12 @@ class ADIS16470_IMU : public nt::NTSendable,
SPI* m_spi = nullptr;
DigitalInput* m_auto_interrupt = nullptr;
double m_scaled_sample_rate = 2500.0; // Default sample rate setting
bool m_connected{false};
std::thread m_acquire_task;
hal::SimDevice m_simDevice;
hal::SimBoolean m_simConnected;
hal::SimDouble m_simGyroAngleX;
hal::SimDouble m_simGyroAngleY;
hal::SimDouble m_simGyroAngleZ;

4
wpilibc/src/main/native/include/frc/ADXRS450_Gyro.h
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@@ -49,6 +49,8 @@ class ADXRS450_Gyro : public Gyro,
ADXRS450_Gyro(ADXRS450_Gyro&&) = default;
ADXRS450_Gyro& operator=(ADXRS450_Gyro&&) = default;
bool IsConnected() const;
/**
* Return the actual angle in degrees that the robot is currently facing.
*
@@ -105,8 +107,10 @@ class ADXRS450_Gyro : public Gyro,
private:
SPI m_spi;
SPI::Port m_port;
bool m_connected{false};
hal::SimDevice m_simDevice;
hal::SimBoolean m_simConnected;
hal::SimDouble m_simAngle;
hal::SimDouble m_simRate;