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[wpilib] Deprecate Accelerometer and Gyro interfaces (#5445)

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Accelerometer is hyper-specific to ADXL accelerometers, and Gyro is
less useful now that 3D IMUs are prevalent, and if those IMUs want to
support the Gyro interface, they also need to provide a way to set the
axis used for the Gyro interface, which is confusing. Higher-order
functions (e.g., lambdas) are a more flexible interface boundary than
interfaces, but they didn't exist when these interfaces were
created.
This commit is contained in:
Tyler Veness
2023-07-18 12:52:43 -07:00
committed by GitHub
parent 70b60e3a74
commit 14f30752ab
32 changed files with 426 additions and 152 deletions
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38
wpilibc/src/main/native/include/frc/AnalogGyro.h
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@@ -10,7 +10,7 @@
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
#include "frc/interfaces/Gyro.h"
#include "frc/geometry/Rotation2d.h"
namespace frc {
@@ -29,8 +29,7 @@ class AnalogInput;
*
* This class is for gyro sensors that connect to an analog input.
*/
class AnalogGyro : public Gyro,
public wpi::Sendable,
class AnalogGyro : public wpi::Sendable,
public wpi::SendableHelper<AnalogGyro> {
public:
static constexpr int kOversampleBits = 10;
@@ -118,7 +117,7 @@ class AnalogGyro : public Gyro,
* @return The current heading of the robot in degrees. This heading is based
* on integration of the returned rate from the gyro.
*/
double GetAngle() const override;
double GetAngle() const;
/**
* Return the rate of rotation of the gyro
@@ -127,7 +126,7 @@ class AnalogGyro : public Gyro,
*
* @return the current rate in degrees per second
*/
double GetRate() const override;
double GetRate() const;
/**
* Return the gyro center value. If run after calibration,
@@ -174,7 +173,7 @@ class AnalogGyro : public Gyro,
* significant drift in the gyro and it needs to be recalibrated after it has
* been running.
*/
void Reset() final;
void Reset();
/**
* Initialize the gyro.
@@ -183,7 +182,32 @@ class AnalogGyro : public Gyro,
*/
void InitGyro();
void Calibrate() final;
/**
* Calibrate the gyro by running for a number of samples and computing the
* center value. Then use the center value as the Accumulator center value for
* subsequent measurements.
*
* It's important to make sure that the robot is not moving while the
* centering calculations are in progress, this is typically done when the
* robot is first turned on while it's sitting at rest before the competition
* starts.
*/
void Calibrate();
/**
* Return the heading of the robot as a Rotation2d.
*
* The angle is continuous, that is it will continue from 360 to 361 degrees.
* This allows algorithms that wouldn't want to see a discontinuity in the
* gyro output as it sweeps past from 360 to 0 on the second time around.
*
* The angle is expected to increase as the gyro turns counterclockwise when
* looked at from the top. It needs to follow the NWU axis convention.
*
* @return the current heading of the robot as a Rotation2d. This heading is
* based on integration of the returned rate from the gyro.
*/
Rotation2d GetRotation2d() const;
/**
* Gets the analog input for the gyro.