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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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31
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Gyro.java
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@@ -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
*/