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Gyro deadband defaults to 0

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The gyro class no longer attempts to set a default deadband, but it still
has an optional SetDeadband() method.

The gyro integration tests were modified and still pass consistently.

Change-Id: I08a97b00b98b49b0a3c63306fcc809857523af2b
This commit is contained in:
Thomas Clark
2014-08-05 09:46:02 -04:00
parent 60a3fd0698
commit 43c566bd86
7 changed files with 50 additions and 86 deletions
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3
wpilibc/wpilibC++/include/Gyro.h
View File

@@ -27,8 +27,7 @@ public:
static const uint32_t kOversampleBits = 10;
static const uint32_t kAverageBits = 0;
static constexpr float kSamplesPerSecond = 50.0;
static constexpr float kCalibrationSampleTime = 0.01;
static constexpr int kNumCalibrationSamples = 500;
static constexpr float kCalibrationSampleTime = 5.0;
static constexpr float kDefaultVoltsPerDegreePerSecond = 0.007;
explicit Gyro(uint32_t channel);

32
wpilibc/wpilibC++/lib/Gyro.cpp
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@@ -15,7 +15,6 @@ const uint32_t Gyro::kOversampleBits;
const uint32_t Gyro::kAverageBits;
constexpr float Gyro::kSamplesPerSecond;
constexpr float Gyro::kCalibrationSampleTime;
constexpr int Gyro::kNumCalibrationSamples;
constexpr float Gyro::kDefaultVoltsPerDegreePerSecond;
/**
@@ -51,25 +50,7 @@ void Gyro::InitGyro()
m_analog->InitAccumulator();
// Get the lowest and highest value that occur within a large number of
// calibration samples. These are used to determine an appropriate default
// deadband.
int32_t lowestSample = INT_MAX, highestSample = INT_MIN;
for(int i = 0; i < kNumCalibrationSamples; i++)
{
int32_t sample = m_analog->GetAverageValue();
if(sample < lowestSample)
{
lowestSample = sample;
}
else if(sample > highestSample)
{
highestSample = sample;
}
Wait(kCalibrationSampleTime);
}
Wait(kCalibrationSampleTime);
int64_t value;
uint32_t count;
@@ -78,13 +59,11 @@ void Gyro::InitGyro()
m_center = (uint32_t)((float)value / (float)count + .5);
m_offset = ((float)value / (float)count) - (float)m_center;
int32_t deadband = std::max(highestSample - m_center, m_center - lowestSample);
m_analog->SetAccumulatorCenter(m_center);
m_analog->SetAccumulatorDeadband(deadband);
m_analog->ResetAccumulator();
SetDeadband(0.0f);
SetPIDSourceParameter(kAngle);
HALReport(HALUsageReporting::kResourceType_Gyro, m_analog->GetChannel());
@@ -203,8 +182,9 @@ void Gyro::SetSensitivity( float voltsPerDegreePerSecond )
/**
* Set the size of the neutral zone. Any voltage from the gyro less than this
* amount from the center is considered stationary. This is set by default
* after calibration.
* 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
*/

12
wpilibc/wpilibC++IntegrationTests/src/TiltPanCameraTest.cpp
View File

@@ -33,7 +33,7 @@ protected:
// The gyro object blocks for 5 seconds in the constructor, so only
// construct it once for the whole test case
m_gyro = new Gyro(TestBench::kCameraGyroChannel);
m_gyro->SetSensitivity(0.0134897058674);
m_gyro->SetSensitivity(0.013);
}
static void TearDownTestCase() {
@@ -66,22 +66,22 @@ Gyro *TiltPanCameraTest::m_gyro = 0;
* Test if the gyro angle defaults to 0 immediately after being reset.
*/
TEST_F(TiltPanCameraTest, DefaultGyroAngle) {
EXPECT_NEAR(0.0f, m_gyro->GetAngle(), 0.01f);
EXPECT_NEAR(0.0f, m_gyro->GetAngle(), 1.0f);
}
/**
* Test if the servo turns 180 degrees and the gyroscope measures this angle
*/
TEST_F(TiltPanCameraTest, GyroAngle) {
for(int i = 0; i < 180; i++) {
m_pan->SetAngle(i);
for(int i = 0; i < 1800; i++) {
m_pan->SetAngle(i / 10.0);
Wait(0.05);
Wait(0.001);
}
double gyroAngle = m_gyro->GetAngle();
EXPECT_NEAR(gyroAngle, kTestAngle, 20.0) << "Gyro measured " << gyroAngle
EXPECT_NEAR(gyroAngle, kTestAngle, 10.0) << "Gyro measured " << gyroAngle
<< " degrees, servo should have turned " << kTestAngle << " degrees";
}

31
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Gyro.java
View File

@@ -27,8 +27,7 @@ public class Gyro extends SensorBase implements PIDSource, LiveWindowSendable {
static final int kOversampleBits = 10;
static final int kAverageBits = 0;
static final double kSamplesPerSecond = 50.0;
static final double kCalibrationSampleTime = 0.01;
static final int kNumCalibrationSamples = 500;
static final double kCalibrationSampleTime = 5.0;
static final double kDefaultVoltsPerDegreePerSecond = 0.007;
private AnalogInput m_analog;
double m_voltsPerDegreePerSecond;
@@ -57,26 +56,12 @@ public class Gyro extends SensorBase implements PIDSource, LiveWindowSendable {
double sampleRate = kSamplesPerSecond
* (1 << (kAverageBits + kOversampleBits));
AnalogInput.setGlobalSampleRate(sampleRate);
Timer.delay(1.0);
m_analog.initAccumulator();
m_analog.resetAccumulator();
// Get the lowest and highest value that occur within a large number of
// calibration samples. These are used to determine an appropriate
// default deadband.
int lowestSample = Integer.MAX_VALUE, highestSample = Integer.MIN_VALUE;
for(int i = 0; i < kNumCalibrationSamples; i++) {
int sample = m_analog.getAverageValue();
if(sample < lowestSample) {
lowestSample = sample;
} else if(sample > highestSample) {
highestSample = sample;
}
Timer.delay(kCalibrationSampleTime);
}
Timer.delay(kCalibrationSampleTime);
m_analog.getAccumulatorOutput(result);
@@ -85,12 +70,11 @@ public class Gyro extends SensorBase implements PIDSource, LiveWindowSendable {
m_offset = ((double) result.value / (double) result.count)
- m_center;
int deadband = Math.max(highestSample - m_center, m_center - lowestSample);
m_analog.setAccumulatorCenter(m_center);
m_analog.setAccumulatorDeadband(deadband);
m_analog.resetAccumulator();
setDeadband(0.0);
setPIDSourceParameter(PIDSourceParameter.kAngle);
UsageReporting.report(tResourceType.kResourceType_Gyro, m_analog.getChannel());
@@ -209,8 +193,9 @@ public class Gyro extends SensorBase implements PIDSource, LiveWindowSendable {
/**
* Set the size of the neutral zone. Any voltage from the gyro less than
* this amount from the center is considered stationary. This is set by
* default after calibration.
* 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
*/

33
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/GyroTest.java
View File

@@ -19,19 +19,19 @@ import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import edu.wpi.first.wpilibj.test.TestBench;
public class GyroTest extends AbstractComsSetup {
private static final Logger logger = Logger.getLogger(GyroTest.class.getName());
public static final double TEST_ANGLE = 180.0;
private TiltPanCameraFixture tpcam;
@Override
protected Logger getClassLogger(){
return logger;
}
@Before
public void setUp() throws Exception {
logger.fine("Setup: TiltPan camera");
@@ -44,7 +44,7 @@ public class GyroTest extends AbstractComsSetup {
tpcam.reset();
tpcam.teardown();
}
@Test
public void testInitial(){
double angle = tpcam.getGyro().getAngle();
@@ -56,22 +56,21 @@ public class GyroTest extends AbstractComsSetup {
*/
@Test
public void testGyroAngle() {
for(double i = 0; i < 1.0; i+=.005){
//System.out.println("i: " + i);
//System.out.println("Angle " + tpcam.getGyro().getAngle());
tpcam.getPan().set(i);
Timer.delay(.025);
for(int i = 0; i < 1800; i++) {
tpcam.getPan().setAngle(i / 10.0);
Timer.delay(0.001);
}
//Timer.delay(TiltPanCameraFixture.RESET_TIME);
double angle = tpcam.getGyro().getAngle();
double difference = TEST_ANGLE - angle;
double diff = Math.abs(difference);
assertEquals(errorMessage(diff, TEST_ANGLE), TEST_ANGLE, angle, 8);
}
@Test
public void testDeviationOverTime(){
double angle = tpcam.getGyro().getAngle();
@@ -80,7 +79,7 @@ public class GyroTest extends AbstractComsSetup {
angle = tpcam.getGyro().getAngle();
assertEquals("After 5 seconds " + errorMessage(angle, 0), 0, angle, 1);
}
private String errorMessage(double difference, double target){
return "Gryo angle skewed " + difference + " deg away from target " + target;
}

7
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/TiltPanCameraFixture.java
View File

@@ -15,7 +15,7 @@ import edu.wpi.first.wpilibj.Timer;
/**
* A class to represent the a physical Camera with two servos (tilt and pan) designed to test to see if the
* gyroscope is operating normally.
*
*
* @author Jonathan Leitschuh
*
*/
@@ -48,9 +48,10 @@ public abstract class TiltPanCameraFixture implements ITestFixture {
pan = givePan();
pan.set(0);
Timer.delay(RESET_TIME);
logger.fine("Initializing the gyro");
gyro = giveGyro();
gyro.reset();
wasSetup = true;
}
return wasSetup;
@@ -84,5 +85,5 @@ public abstract class TiltPanCameraFixture implements ITestFixture {
gyro = null;
return true;
}
}

18
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java
View File

@@ -47,24 +47,24 @@ public final class TestBench {
* completely stopped
*/
public static final double MOTOR_STOP_TIME = 0.20;
public static final int kTalonChannel = 10;
public static final int kVictorChannel = 1;
public static final int kJaguarChannel = 2;
/*TiltPanCamera Channels */
public static final int kGyroChannel = 0;
public static final double kGyroSensitivity = 0.0134897058674;
public static final double kGyroSensitivity = 0.013;
public static final int kTiltServoChannel = 9;
public static final int kPanServoChannel = 8;
/* PowerDistributionPanel channels */
public static final int kJaguarPDPChannel = 6;
public static final int kVictorPDPChannel = 8;
public static final int kTalonPDPChannel = 11;
public static final int kCANJaguarPDPChannel = 5;
/* CAN ASSOICATED CHANNELS */
public static final int kCANRelayPowerCycler = 1;
public static final int kFakeJaguarPotentiometer = 1;
@@ -177,7 +177,7 @@ public final class TestBench {
};
return jagPair;
}
public class BaseCANMotorEncoderFixture extends CANMotorEncoderFixture{
@Override
protected CANJaguar giveSpeedController() {
@@ -210,7 +210,7 @@ public final class TestBench {
protected Relay givePoweCycleRelay() {
return new Relay(kCANRelayPowerCycler);
}
@Override
public int getPDPChannel() {
return kCANJaguarPDPChannel;
@@ -394,7 +394,7 @@ public final class TestBench {
}
return instance;
}
/**
* Provides access to the output stream for the test system. This should be used instead of System.out
* This is gives us a way to implement changes to where the output text of this test system is sent.
@@ -403,7 +403,7 @@ public final class TestBench {
public static PrintStream out(){
return System.out;
}
/**
* Provides access to the error stream for the test system. This should be used instead of System.err
* This is gives us a way to implement changes to where the output text of this test system is sent.