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[wpilib, examples] Remove AnalogGyro (#8205)

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Ryan Blue
2025-10-10 15:44:39 -04:00
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parent 35e4a18e86
commit 33f91589b4
30 changed files with 109 additions and 563 deletions
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wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogGyro.java
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj;
import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
/**
* 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.
*
* <p>This class is for gyro sensors that connect to an analog input.
*/
public class AnalogGyro implements Sendable, AutoCloseable {
private AnalogInput m_analog;
private boolean m_channelAllocated;
/** Initialize the gyro. Calibration is handled by calibrate(). */
private void initGyro() {
HAL.reportUsage("AnalogGyro", m_analog.getChannel(), "");
SendableRegistry.add(this, "AnalogGyro", m_analog.getChannel());
}
/**
* 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.
*
* <p>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.
*/
public void calibrate() {}
/**
* Return the heading of the robot as a {@link edu.wpi.first.math.geometry.Rotation2d}.
*
* <p>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.
*
* <p>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.
*
* <p>This heading is based on integration of the returned rate from the gyro.
*
* @return the current heading of the robot as a {@link edu.wpi.first.math.geometry.Rotation2d}.
*/
public Rotation2d getRotation2d() {
return Rotation2d.fromDegrees(-getAngle());
}
/**
* Gyro constructor using the channel number.
*
* @param channel The analog channel the gyro is connected to. Gyros can only be used on on-board
* channels 0-1.
*/
@SuppressWarnings("this-escape")
public AnalogGyro(int channel) {
this(new AnalogInput(channel));
m_channelAllocated = true;
SendableRegistry.addChild(this, m_analog);
}
/**
* Gyro constructor with a precreated analog channel object. Use this constructor when the analog
* channel needs to be shared.
*
* @param channel The AnalogInput object that the gyro is connected to. Gyros can only be used on
* on-board channels 0-1.
*/
@SuppressWarnings("this-escape")
public AnalogGyro(AnalogInput channel) {
requireNonNullParam(channel, "channel", "AnalogGyro");
m_analog = channel;
initGyro();
calibrate();
}
/**
* Gyro constructor using the channel number along with parameters for presetting the center and
* offset values. Bypasses calibration.
*
* @param channel The analog channel the gyro is connected to. Gyros can only be used on on-board
* channels 0-1.
* @param center Preset uncalibrated value to use as the accumulator center value.
* @param offset Preset uncalibrated value to use as the gyro offset.
*/
@SuppressWarnings("this-escape")
public AnalogGyro(int channel, int center, double offset) {
this(new AnalogInput(channel), center, offset);
m_channelAllocated = true;
SendableRegistry.addChild(this, m_analog);
}
/**
* Gyro constructor with a precreated analog channel object along with parameters for presetting
* the center and offset values. Bypasses calibration.
*
* @param channel The analog channel the gyro is connected to. Gyros can only be used on on-board
* channels 0-1.
* @param center Preset uncalibrated value to use as the accumulator center value.
* @param offset Preset uncalibrated value to use as the gyro offset.
*/
@SuppressWarnings({"this-escape", "PMD.UnusedFormalParameter"})
public AnalogGyro(AnalogInput channel, int center, double offset) {
requireNonNullParam(channel, "channel", "AnalogGyro");
m_analog = channel;
initGyro();
reset();
}
/**
* Reset the gyro.
*
* <p>Resets the gyro to a heading of zero. This can be used if there is significant drift in the
* gyro, and it needs to be recalibrated after it has been running.
*/
public void reset() {}
/** Delete (free) the accumulator and the analog components used for the gyro. */
@Override
public void close() {
SendableRegistry.remove(this);
if (m_analog != null && m_channelAllocated) {
m_analog.close();
}
m_analog = null;
}
/**
* Return the heading of the robot in degrees.
*
* <p>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.
*
* <p>The angle is expected to increase as the gyro turns clockwise when looked at from the top.
* It needs to follow the NED axis convention.
*
* <p>This heading is based on integration of the returned rate from the gyro.
*
* @return the current heading of the robot in degrees.
*/
public double getAngle() {
return 0.0;
}
/**
* Return the rate of rotation of the gyro.
*
* <p>The rate is based on the most recent reading of the gyro analog value
*
* <p>The rate is expected to be positive as the gyro turns clockwise when looked at from the top.
* It needs to follow the NED axis convention.
*
* @return the current rate in degrees per second
*/
public double getRate() {
return 0.0;
}
/**
* Return the gyro offset value set during calibration to use as a future preset.
*
* @return the current offset value
*/
public double getOffset() {
return 0.0;
}
/**
* Return the gyro center value set during calibration to use as a future preset.
*
* @return the current center value
*/
public int getCenter() {
return 0;
}
/**
* Set the gyro sensitivity. This takes the number of volts/degree/second sensitivity of the gyro
* and uses it in subsequent calculations to allow the code to work with multiple gyros. This
* value is typically found in the gyro datasheet.
*
* @param voltsPerDegreePerSecond The sensitivity in Volts/degree/second.
*/
public void setSensitivity(double voltsPerDegreePerSecond) {}
/**
* Set the size of the neutral zone. Any voltage from the gyro less than this amount from the
* center is considered stationary. Setting a deadband will decrease the amount of drift when the
* gyro isn't rotating, but will make it less accurate.
*
* @param volts The size of the deadband in volts
*/
public void setDeadband(double volts) {}
/**
* Gets the analog input for the gyro.
*
* @return AnalogInput
*/
public AnalogInput getAnalogInput() {
return m_analog;
}
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("Gyro");
builder.addDoubleProperty("Value", this::getAngle, null);
}
}