Initial checkin of unified hierarchy of WPILib 2015

wpilibc/src/main/include/Gyro.h

@@ -0,0 +1,69 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. All Rights Reserved.							  */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
+/*----------------------------------------------------------------------------*/
+
+#ifndef GYRO_H_
+#define GYRO_H_
+
+#include "SensorBase.h"
+#include "PIDSource.h"
+#include "LiveWindow/LiveWindowSendable.h"
+
+class AnalogChannel;
+class AnalogModule;
+
+/**
+ * Use a rate gyro to return the robots heading relative to a starting position.
+ * The Gyro class tracks the robots heading based on the starting position. As the robot
+ * rotates the new heading is computed by integrating the rate of rotation returned
+ * by the sensor. When the class is instantiated, it does a short calibration routine
+ * where it samples the gyro while at rest to determine the default offset. This is
+ * subtracted from each sample to determine the heading. This gyro class must be used 
+ * with a channel that is assigned one of the Analog accumulators from the FPGA. See
+ * AnalogChannel for the current accumulator assignments.
+ */
+class Gyro : public SensorBase, public PIDSource, public LiveWindowSendable
+{
+public:
+	static const uint32_t kOversampleBits = 10;
+	static const uint32_t kAverageBits = 0;
+	static constexpr float kSamplesPerSecond = 50.0;
+	static constexpr float kCalibrationSampleTime = 5.0;
+	static constexpr float kDefaultVoltsPerDegreePerSecond = 0.007;
+
+	Gyro(uint8_t moduleNumber, uint32_t channel);
+	explicit Gyro(uint32_t channel);
+	explicit Gyro(AnalogChannel *channel);
+	explicit Gyro(AnalogChannel &channel);
+	virtual ~Gyro();
+	virtual float GetAngle();
+	virtual double GetRate();
+	void SetSensitivity(float voltsPerDegreePerSecond);
+	void SetPIDSourceParameter(PIDSourceParameter pidSource);
+	virtual void Reset();
+
+	// PIDSource interface
+	double PIDGet();
+	
+	void UpdateTable();
+	void StartLiveWindowMode();
+	void StopLiveWindowMode();
+	std::string GetSmartDashboardType();
+	void InitTable(ITable *subTable);
+	ITable * GetTable();
+
+private:
+	void InitGyro();
+
+	AnalogChannel *m_analog;
+	float m_voltsPerDegreePerSecond;
+	float m_offset;
+	bool m_channelAllocated;
+	uint32_t m_center;
+	PIDSourceParameter m_pidSource;
+	
+	ITable *m_table;
+};
+#endif