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Gyro: Add support for fixed calibration (artf4124).

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Testing added for Gyro constructors, getters, and setters.

Change-Id: Id3ba2656bfdb286e01fbd95dff95115a3446c92e
This commit is contained in:
Joseph
2015-07-28 11:57:22 -04:00
committed by Peter Johnson
parent 6d00b77ef3
commit 375a19563e
8 changed files with 304 additions and 54 deletions
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110
wpilibc/Athena/src/AnalogGyro.cpp
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@@ -56,32 +56,49 @@ AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel)
if (channel == nullptr) {
wpi_setWPIError(NullParameter);
} else {
if (!m_analog->IsAccumulatorChannel()) {
wpi_setWPIErrorWithContext(ParameterOutOfRange,
" channel (must be accumulator channel)");
m_analog = nullptr;
return;
}
m_voltsPerDegreePerSecond = kDefaultVoltsPerDegreePerSecond;
m_analog->SetAverageBits(kAverageBits);
m_analog->SetOversampleBits(kOversampleBits);
float sampleRate =
kSamplesPerSecond * (1 << (kAverageBits + kOversampleBits));
m_analog->SetSampleRate(sampleRate);
Wait(0.1);
SetDeadband(0.0f);
SetPIDSourceType(PIDSourceType::kDisplacement);
HALReport(HALUsageReporting::kResourceType_Gyro, m_analog->GetChannel());
LiveWindow::GetInstance()->AddSensor("Gyro", m_analog->GetChannel(), this);
InitGyro();
Calibrate();
}
}
/**
* Gyro constructor using the Analog Input channel number 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 Analog Inputs 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.
*/
AnalogGyro::AnalogGyro(int32_t channel, uint32_t center, float offset) {
m_analog = std::make_shared<AnalogInput>(channel);
InitGyro();
m_center = center;
m_offset = offset;
m_analog->SetAccumulatorCenter(m_center);
m_analog->ResetAccumulator();
}
/**
* Gyro constructor with a precreated AnalogInput object and calibrated parameters.
* Use this constructor when the analog channel needs to be shared.
* This object will not clean up the AnalogInput object when using this
* constructor
* @param channel A pointer to the AnalogInput object that the gyro is
* connected to.
*/
AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel, uint32_t center, float offset) : m_analog(channel) {
if (channel == nullptr) {
wpi_setWPIError(NullParameter);
} else {
InitGyro();
m_center = center;
m_offset = offset;
m_analog->SetAccumulatorCenter(m_center);
m_analog->ResetAccumulator();
}
}
/**
* Reset the gyro.
* Resets the gyro to a heading of zero. This can be used if there is
@@ -93,6 +110,35 @@ void AnalogGyro::Reset() {
m_analog->ResetAccumulator();
}
/**
* Initialize the gyro. Calibration is handled by Calibrate().
*/
void AnalogGyro::InitGyro() {
if (StatusIsFatal()) return;
if (!m_analog->IsAccumulatorChannel()) {
wpi_setWPIErrorWithContext(ParameterOutOfRange,
" channel (must be accumulator channel)");
m_analog = nullptr;
return;
}
m_voltsPerDegreePerSecond = kDefaultVoltsPerDegreePerSecond;
m_analog->SetAverageBits(kAverageBits);
m_analog->SetOversampleBits(kOversampleBits);
float sampleRate =
kSamplesPerSecond * (1 << (kAverageBits + kOversampleBits));
m_analog->SetSampleRate(sampleRate);
Wait(0.1);
SetDeadband(0.0f);
SetPIDSourceType(PIDSourceType::kDisplacement);
HALReport(HALUsageReporting::kResourceType_Gyro, m_analog->GetChannel());
LiveWindow::GetInstance()->AddSensor("Gyro", m_analog->GetChannel(), this);
}
/**
* {@inheritDoc}
*/
@@ -160,6 +206,26 @@ double AnalogGyro::GetRate() const {
((1 << m_analog->GetOversampleBits()) * m_voltsPerDegreePerSecond);
}
/**
* Return the gyro offset value. If run after calibration,
* the offset value can be used as a preset later.
*
* @return the current offset value
*/
float AnalogGyro::GetOffset() const {
return m_offset;
}
/**
* Return the gyro center value. If run after calibration,
* the center value can be used as a preset later.
*
* @return the current center value
*/
uint32_t AnalogGyro::GetCenter() const {
return m_center;
}
/**
* Set the gyro sensitivity.
* This takes the number of volts/degree/second sensitivity of the gyro and uses