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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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12
wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java
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@@ -15,6 +15,7 @@ package edu.wpi.first.wpilibj;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.SimBoolean;
import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.hal.SimDouble;
import edu.wpi.first.networktables.NTSendable;
@@ -183,8 +184,10 @@ public class ADIS16448_IMU implements AutoCloseable, NTSendable {
private DigitalInput m_reset_in;
private DigitalOutput m_status_led;
private Thread m_acquire_task;
private boolean m_connected;
private SimDevice m_simDevice;
private SimBoolean m_simConnected;
private SimDouble m_simGyroAngleX;
private SimDouble m_simGyroAngleY;
private SimDouble m_simGyroAngleZ;
@@ -262,6 +265,7 @@ public class ADIS16448_IMU implements AutoCloseable, NTSendable {
m_simDevice = SimDevice.create("Gyro:ADIS16448", port.value);
if (m_simDevice != null) {
m_simConnected = m_simDevice.createBoolean("connected", SimDevice.Direction.kInput, true);
m_simGyroAngleX = m_simDevice.createDouble("gyro_angle_x", SimDevice.Direction.kInput, 0.0);
m_simGyroAngleY = m_simDevice.createDouble("gyro_angle_y", SimDevice.Direction.kInput, 0.0);
m_simGyroAngleZ = m_simDevice.createDouble("gyro_angle_z", SimDevice.Direction.kInput, 0.0);
@@ -324,6 +328,14 @@ public class ADIS16448_IMU implements AutoCloseable, NTSendable {
// Report usage and post data to DS
HAL.report(tResourceType.kResourceType_ADIS16448, 0);
m_connected = true;
}
public boolean isConnected() {
if (m_simConnected != null) {
return m_simConnected.get();
}
return m_connected;
}
/** */

12
wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
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@@ -14,6 +14,7 @@ package edu.wpi.first.wpilibj;
// import java.lang.FdLibm.Pow;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.SimBoolean;
import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.hal.SimDouble;
import edu.wpi.first.networktables.NTSendable;
@@ -250,8 +251,10 @@ public class ADIS16470_IMU implements AutoCloseable, NTSendable {
private DigitalInput m_reset_in;
private DigitalOutput m_status_led;
private Thread m_acquire_task;
private boolean m_connected;
private SimDevice m_simDevice;
private SimBoolean m_simConnected;
private SimDouble m_simGyroAngleX;
private SimDouble m_simGyroAngleY;
private SimDouble m_simGyroAngleZ;
@@ -293,6 +296,7 @@ public class ADIS16470_IMU implements AutoCloseable, NTSendable {
m_simDevice = SimDevice.create("Gyro:ADIS16470", port.value);
if (m_simDevice != null) {
m_simConnected = m_simDevice.createBoolean("connected", SimDevice.Direction.kInput, true);
m_simGyroAngleX = m_simDevice.createDouble("gyro_angle_x", SimDevice.Direction.kInput, 0.0);
m_simGyroAngleY = m_simDevice.createDouble("gyro_angle_y", SimDevice.Direction.kInput, 0.0);
m_simGyroAngleZ = m_simDevice.createDouble("gyro_angle_z", SimDevice.Direction.kInput, 0.0);
@@ -361,6 +365,14 @@ public class ADIS16470_IMU implements AutoCloseable, NTSendable {
// Report usage and post data to DS
HAL.report(tResourceType.kResourceType_ADIS16470, 0);
m_connected = true;
}
public boolean isConnected() {
if (m_simConnected != null) {
return m_simConnected.get();
}
return m_connected;
}
/**