Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-05 03:21:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Gyro deadband defaults to 0

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

32
wpilibc/wpilibC++/lib/Gyro.cpp
View File

@@ -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
*/