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merged from frcsim branch

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verified to work on real robots
adds sim eclipse plugins, fixed JavaGazebo, made wpilibC++Sim build on windows
 - Java and C++ simulation robot programs run on windows
 - simulation eclipse plugin delivers models and gazebo plugins
 - Java Gazebo now respects GAZEBO_IP variables and can work across networks
 - hal and network tables win32 hacked to work on windows
 - smart dashboard broken on windows due to network tables hacks
 - wpilibC++Sim, gz_msgs, and frcsim_gazebo_plugins build with CMake
 - removed constexpr for cross platform compatibility
 - msgs generated using .protos as a part of build process
 - some spare and unused cmake/pom files deleted
 - simulation ubuntu debians removed entirely
 - refactored CMake project flags and macros
 - updated to match non-sim C++ API
 - fixed and updated documentation
 - servo added to simulation

Change-Id: Ia702ff0f1fee10d77f543810ad88f56696443b05
This commit is contained in:
peter mitrano
2015-04-26 19:19:57 -04:00
parent 4e46692191
commit 29d029fa61
211 changed files with 2143 additions and 6491 deletions
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16
wpilibc/wpilibC++Sim/src/Gyro.cpp
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@@ -9,11 +9,11 @@
#include "WPIErrors.h"
#include "LiveWindow/LiveWindow.h"
const uint32_t Gyro::kOversampleBits;
const uint32_t Gyro::kAverageBits;
constexpr float Gyro::kSamplesPerSecond;
constexpr float Gyro::kCalibrationSampleTime;
constexpr float Gyro::kDefaultVoltsPerDegreePerSecond;
const uint32_t Gyro::kOversampleBits = 10;
const uint32_t Gyro::kAverageBits = 0;
const float Gyro::kSamplesPerSecond = 50.0;
const float Gyro::kCalibrationSampleTime = 5.0;
const float Gyro::kDefaultVoltsPerDegreePerSecond = 0.007;
/**
* Initialize the gyro.
@@ -30,7 +30,7 @@ void Gyro::InitGyro(int channel)
char buffer[50];
int n = sprintf(buffer, "analog/%d", channel);
impl = new SimGyro(buffer);
LiveWindow::GetInstance().AddSensor("Gyro", channel, this);
}
@@ -56,12 +56,12 @@ void Gyro::Reset()
/**
* Return the actual angle in degrees that the robot is currently facing.
*
*
* The angle is based on the current accumulator value corrected by the oversampling rate, the
* gyro type and the A/D calibration values.
* The angle is continuous, that is can go beyond 360 degrees. This make algorithms that wouldn't
* want to see a discontinuity in the gyro output as it sweeps past 0 on the second time around.
*
*
* @return the current heading of the robot in degrees. This heading is based on integration
* of the returned rate from the gyro.
*/