This class is for the Romi onboard gyro, and will only work in simulation/Romi mode. Only one + * instance of a RomiGyro is supported. + */ public class RomiGyro { private final SimDevice m_simDevice; private final SimDouble m_simRateX; @@ -130,10 +136,27 @@ public class RomiGyro { } } + /** + * Return the actual angle in degrees that the robot is currently facing. + * + *
The angle is based on integration of the returned rate form the gyro. The angle is + * continuous, that is, it will continue from 360->361 degrees. This allows algorithms that + * wouldn't want to see a discontinuity in the gyro output as it sweeps from 360 to 0 on the + * second time around. + * + * @return the current heading of the robot in degrees. + */ public double getAngle() { return getAngleZ(); } + /** + * Return the rate of rotation of the gyro + * + *
The rate is based on the most recent reading of the gyro.
+ *
+ * @return the current rate in degrees per second
+ */
public double getRate() {
return getRateZ();
}
diff --git a/romiVendordep/src/main/native/include/frc/romi/OnBoardIO.h b/romiVendordep/src/main/native/include/frc/romi/OnBoardIO.h
index 8e08a35c71..eef6a8488d 100644
--- a/romiVendordep/src/main/native/include/frc/romi/OnBoardIO.h
+++ b/romiVendordep/src/main/native/include/frc/romi/OnBoardIO.h
@@ -12,6 +12,11 @@
namespace frc {
+/**
+ * @ingroup romi_api
+ * @{
+ */
+
/**
* This class represents the onboard IO of the Romi
* reference robot. This includes the pushbuttons and
@@ -24,7 +29,8 @@ namespace frc {
*/
class OnBoardIO {
public:
- enum ChannelMode { INPUT, OUTPUT };
+ /** Mode for Romi onboard IO */
+ enum ChannelMode { /** Input */ INPUT, /** Output */ OUTPUT };
OnBoardIO(OnBoardIO::ChannelMode dio1, OnBoardIO::ChannelMode dio2);
static constexpr auto kMessageInterval = 1_s;
@@ -73,4 +79,6 @@ class OnBoardIO {
std::unique_ptr Only one instance of a XRPGyro is supported.
+ */
public XRPGyro() {
m_simDevice = SimDevice.create("Gyro:XRPGyro");
if (m_simDevice != null) {
diff --git a/xrpVendordep/src/main/java/edu/wpi/first/wpilibj/xrp/XRPMotor.java b/xrpVendordep/src/main/java/edu/wpi/first/wpilibj/xrp/XRPMotor.java
index 5924cb4adb..f99173a6eb 100644
--- a/xrpVendordep/src/main/java/edu/wpi/first/wpilibj/xrp/XRPMotor.java
+++ b/xrpVendordep/src/main/java/edu/wpi/first/wpilibj/xrp/XRPMotor.java
@@ -44,7 +44,11 @@ public class XRPMotor implements MotorController {
private final SimDouble m_simSpeed;
private final SimBoolean m_simInverted;
- /** XRPMotor. */
+ /**
+ * Constructs an XRPMotor.
+ *
+ * @param deviceNum the motor channel
+ */
public XRPMotor(int deviceNum) {
checkDeviceAllocation(deviceNum);
diff --git a/xrpVendordep/src/main/java/edu/wpi/first/wpilibj/xrp/XRPRangefinder.java b/xrpVendordep/src/main/java/edu/wpi/first/wpilibj/xrp/XRPRangefinder.java
index ac2d72c1f8..70dbce5924 100644
--- a/xrpVendordep/src/main/java/edu/wpi/first/wpilibj/xrp/XRPRangefinder.java
+++ b/xrpVendordep/src/main/java/edu/wpi/first/wpilibj/xrp/XRPRangefinder.java
@@ -11,6 +11,13 @@ import edu.wpi.first.wpilibj.AnalogInput;
public class XRPRangefinder {
private final AnalogInput m_rangefinder = new AnalogInput(2);
+ /**
+ * Constructs an XRPRangefinder.
+ *
+ * Only one instance of a XRPRangefinder is supported.
+ */
+ public XRPRangefinder() {}
+
/**
* Get the measured distance in meters. Distance further than 4m will be reported as 4m.
*
diff --git a/xrpVendordep/src/main/java/edu/wpi/first/wpilibj/xrp/XRPReflectanceSensor.java b/xrpVendordep/src/main/java/edu/wpi/first/wpilibj/xrp/XRPReflectanceSensor.java
index ebd5368db8..623215bf55 100644
--- a/xrpVendordep/src/main/java/edu/wpi/first/wpilibj/xrp/XRPReflectanceSensor.java
+++ b/xrpVendordep/src/main/java/edu/wpi/first/wpilibj/xrp/XRPReflectanceSensor.java
@@ -11,6 +11,13 @@ public class XRPReflectanceSensor {
private final AnalogInput m_leftSensor = new AnalogInput(0);
private final AnalogInput m_rightSensor = new AnalogInput(1);
+ /**
+ * Constructs an XRPReflectanceSensor.
+ *
+ * Only one instance of a XRPReflectanceSensor is supported.
+ */
+ public XRPReflectanceSensor() {}
+
/**
* Returns the reflectance value of the left sensor.
*
diff --git a/xrpVendordep/src/main/java/edu/wpi/first/wpilibj/xrp/XRPServo.java b/xrpVendordep/src/main/java/edu/wpi/first/wpilibj/xrp/XRPServo.java
index ac7231fd22..73901e4bfa 100644
--- a/xrpVendordep/src/main/java/edu/wpi/first/wpilibj/xrp/XRPServo.java
+++ b/xrpVendordep/src/main/java/edu/wpi/first/wpilibj/xrp/XRPServo.java
@@ -38,7 +38,11 @@ public class XRPServo {
private final SimDouble m_simPosition;
- /** XRPServo. */
+ /**
+ * Constructs an XRPServo.
+ *
+ * @param deviceNum the servo channel
+ */
public XRPServo(int deviceNum) {
checkDeviceAllocation(deviceNum);
@@ -58,18 +62,18 @@ public class XRPServo {
/**
* Set the servo angle.
*
- * @param angle Desired angle in degrees
+ * @param angleDegrees Desired angle in degrees
*/
- public void setAngle(double angle) {
- if (angle < 0.0) {
- angle = 0.0;
+ public void setAngle(double angleDegrees) {
+ if (angleDegrees < 0.0) {
+ angleDegrees = 0.0;
}
- if (angle > 180.0) {
- angle = 180.0;
+ if (angleDegrees > 180.0) {
+ angleDegrees = 180.0;
}
- double pos = angle / 180.0;
+ double pos = angleDegrees / 180.0;
if (m_simPosition != null) {
m_simPosition.set(pos);
@@ -92,19 +96,19 @@ public class XRPServo {
/**
* Set the servo position.
*
- * @param pos Desired position (Between 0.0 and 1.0)
+ * @param position Desired position (Between 0.0 and 1.0)
*/
- public void setPosition(double pos) {
- if (pos < 0.0) {
- pos = 0.0;
+ public void setPosition(double position) {
+ if (position < 0.0) {
+ position = 0.0;
}
- if (pos > 1.0) {
- pos = 1.0;
+ if (position > 1.0) {
+ position = 1.0;
}
if (m_simPosition != null) {
- m_simPosition.set(pos);
+ m_simPosition.set(position);
}
}
diff --git a/xrpVendordep/src/main/native/include/frc/xrp/XRPGyro.h b/xrpVendordep/src/main/native/include/frc/xrp/XRPGyro.h
index 81b1610872..1cf49a7710 100644
--- a/xrpVendordep/src/main/native/include/frc/xrp/XRPGyro.h
+++ b/xrpVendordep/src/main/native/include/frc/xrp/XRPGyro.h
@@ -8,6 +8,11 @@
namespace frc {
+/**
+ * @ingroup xrp_api
+ * @{
+ */
+
/**
* Use a rate gyro to return the robots heading relative to a starting position.
*
@@ -16,6 +21,11 @@ namespace frc {
*/
class XRPGyro {
public:
+ /**
+ * Constructs an XRPGyro.
+ *
+ * Only one instance of a XRPGyro is supported.
+ */
XRPGyro();
/**
@@ -88,4 +98,6 @@ class XRPGyro {
double m_angleZOffset = 0;
};
+/** @} */
+
} // namespace frc
diff --git a/xrpVendordep/src/main/native/include/frc/xrp/XRPMotor.h b/xrpVendordep/src/main/native/include/frc/xrp/XRPMotor.h
index 8a220c0800..f9e96c1fe7 100644
--- a/xrpVendordep/src/main/native/include/frc/xrp/XRPMotor.h
+++ b/xrpVendordep/src/main/native/include/frc/xrp/XRPMotor.h
@@ -18,8 +18,18 @@ namespace frc {
WPI_IGNORE_DEPRECATED
+/**
+ * @defgroup xrp_api XRP Hardware API
+ * @{
+ */
+
class XRPMotor : public frc::MotorController, public frc::MotorSafety {
public:
+ /**
+ * Constructs an XRPMotor.
+ *
+ * @param deviceNum the motor channel
+ */
explicit XRPMotor(int deviceNum);
void Set(double value) override;
@@ -46,6 +56,8 @@ class XRPMotor : public frc::MotorController, public frc::MotorSafety {
static void CheckDeviceAllocation(int deviceNum);
};
+/** @} */
+
WPI_UNIGNORE_DEPRECATED
} // namespace frc
diff --git a/xrpVendordep/src/main/native/include/frc/xrp/XRPOnBoardIO.h b/xrpVendordep/src/main/native/include/frc/xrp/XRPOnBoardIO.h
index 4b97870f2c..dc3e0c2114 100644
--- a/xrpVendordep/src/main/native/include/frc/xrp/XRPOnBoardIO.h
+++ b/xrpVendordep/src/main/native/include/frc/xrp/XRPOnBoardIO.h
@@ -13,6 +13,11 @@
namespace frc {
+/**
+ * @ingroup xrp_api
+ * @{
+ */
+
/**
* This class represents the onboard IO of the XRP
* reference robot. This the USER push button and
@@ -43,4 +48,6 @@ class XRPOnBoardIO {
frc::DigitalOutput m_led{1};
};
+/** @} */
+
} // namespace frc
diff --git a/xrpVendordep/src/main/native/include/frc/xrp/XRPRangefinder.h b/xrpVendordep/src/main/native/include/frc/xrp/XRPRangefinder.h
index 5be78e6784..d2b949bb86 100644
--- a/xrpVendordep/src/main/native/include/frc/xrp/XRPRangefinder.h
+++ b/xrpVendordep/src/main/native/include/frc/xrp/XRPRangefinder.h
@@ -10,6 +10,11 @@
namespace frc {
+/**
+ * @ingroup xrp_api
+ * @{
+ */
+
/**
* This class represents the reflectance sensor pair
* on the XRP robot.
@@ -26,4 +31,6 @@ class XRPRangefinder {
frc::AnalogInput m_rangefinder{2};
};
+/** @} */
+
} // namespace frc
diff --git a/xrpVendordep/src/main/native/include/frc/xrp/XRPReflectanceSensor.h b/xrpVendordep/src/main/native/include/frc/xrp/XRPReflectanceSensor.h
index 8b85cd2b64..8b1406c36f 100644
--- a/xrpVendordep/src/main/native/include/frc/xrp/XRPReflectanceSensor.h
+++ b/xrpVendordep/src/main/native/include/frc/xrp/XRPReflectanceSensor.h
@@ -8,6 +8,11 @@
namespace frc {
+/**
+ * @ingroup xrp_api
+ * @{
+ */
+
/**
* This class represents the reflectance sensor pair
* on the XRP robot.
@@ -31,4 +36,6 @@ class XRPReflectanceSensor {
frc::AnalogInput m_rightSensor{1};
};
+/** @} */
+
} // namespace frc
diff --git a/xrpVendordep/src/main/native/include/frc/xrp/XRPServo.h b/xrpVendordep/src/main/native/include/frc/xrp/XRPServo.h
index f452a5f514..4f55f30515 100644
--- a/xrpVendordep/src/main/native/include/frc/xrp/XRPServo.h
+++ b/xrpVendordep/src/main/native/include/frc/xrp/XRPServo.h
@@ -12,14 +12,50 @@
namespace frc {
+/**
+ * @ingroup xrp_api
+ * @{
+ */
+
+/**
+ * XRPServo.
+ *
+ * A SimDevice based servo
+ */
class XRPServo {
public:
+ /**
+ * Constructs an XRPServo.
+ * @param deviceNum the servo channel
+ */
explicit XRPServo(int deviceNum);
+ /**
+ * Set the servo angle.
+ *
+ * @param angleDegrees Desired angle in degrees
+ */
void SetAngle(double angleDegrees);
+
+ /**
+ * Get the servo angle.
+ *
+ * @return Current servo angle
+ */
double GetAngle() const;
+ /**
+ * Set the servo position.
+ *
+ * @param position Desired position (Between 0.0 and 1.0)
+ */
void SetPosition(double position);
+
+ /**
+ * Get the servo position.
+ *
+ * @return Current servo position
+ */
double GetPosition() const;
private:
@@ -34,4 +70,6 @@ class XRPServo {
static void CheckDeviceAllocation(int deviceNum);
};
+/** @} */
+
} // namespace frc