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Add HAL Documentation (#1132)

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This commit is contained in:
Thad House
2018-07-04 00:18:18 -07:00
committed by Peter Johnson
parent de5d7d3c17
commit 59e8b60267
34 changed files with 2276 additions and 284 deletions
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93
hal/src/main/native/include/HAL/AnalogGyro.h
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@@ -15,23 +15,116 @@
extern "C" {
#endif
/**
* Initializes an analog gyro.
*
* @param handle handle to the analog port
* @return the initialized gyro handle
*/
HAL_GyroHandle HAL_InitializeAnalogGyro(HAL_AnalogInputHandle handle,
int32_t* status);
/**
* Sets up an analog gyro with the proper offsets and settings for the KOP
* analog gyro.
*
* @param handle the gyro handle
*/
void HAL_SetupAnalogGyro(HAL_GyroHandle handle, int32_t* status);
/**
* Frees an analog gyro.
*
* @param handle the gyro handle
*/
void HAL_FreeAnalogGyro(HAL_GyroHandle handle);
/**
* Sets the analog gyro parameters to the specified values.
*
* This is meant to be used if you want to reuse the values from a previous
* calibration.
*
* @param handle the gyro handle
* @param voltsPerDegreePerSecond the gyro volts scaling
* @param offset the gyro offset
* @param center the gyro center
*/
void HAL_SetAnalogGyroParameters(HAL_GyroHandle handle,
double voltsPerDegreePerSecond, double offset,
int32_t center, int32_t* status);
/**
* Sets the analog gyro volts per degrees per second scaling.
*
* @param handle the gyro handle
* @param voltsPerDegreePerSecond the gyro volts scaling
*/
void HAL_SetAnalogGyroVoltsPerDegreePerSecond(HAL_GyroHandle handle,
double voltsPerDegreePerSecond,
int32_t* status);
/**
* Resets the analog gyro value to 0.
*
* @param handle the gyro handle
*/
void HAL_ResetAnalogGyro(HAL_GyroHandle handle, int32_t* status);
/**
* Calibrates the analog gyro.
*
* This happens by calculating the average value of the gyro over 5 seconds, and
* setting that as the center. Note that this call blocks for 5 seconds to
* perform this.
*
* @param handle the gyro handle
*/
void HAL_CalibrateAnalogGyro(HAL_GyroHandle handle, int32_t* status);
/**
* Sets the deadband of the analog gyro.
*
* @param handle the gyro handle
* @param volts the voltage deadband
*/
void HAL_SetAnalogGyroDeadband(HAL_GyroHandle handle, double volts,
int32_t* status);
/**
* Gets the gyro angle in degrees.
*
* @param handle the gyro handle
* @return the gyro angle in degrees
*/
double HAL_GetAnalogGyroAngle(HAL_GyroHandle handle, int32_t* status);
/**
* Gets the gyro rate in degrees/second.
*
* @param handle the gyro handle
* @return the gyro rate in degrees/second
*/
double HAL_GetAnalogGyroRate(HAL_GyroHandle handle, int32_t* status);
/**
* Gets the calibrated gyro offset.
*
* Can be used to not repeat a calibration but reconstruct the gyro object.
*
* @param handle the gyro handle
* @return the gryo offset
*/
double HAL_GetAnalogGyroOffset(HAL_GyroHandle handle, int32_t* status);
/**
* Gets the calibrated gyro center.
*
* Can be used to not repeat a calibration but reconstruct the gyro object.
*
* @param handle the gyro handle
* @return the gyro center
*/
int32_t HAL_GetAnalogGyroCenter(HAL_GyroHandle handle, int32_t* status);
#ifdef __cplusplus
} // extern "C"