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https://github.com/wpilibsuite/allwpilib
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Merge "Renamed Gyro to AnalogGyro to match athena API"
This commit is contained in:
Peter Johnson (294)
124
wpilibj/src/shared/java/edu/wpi/first/wpilibj/GyroBase.java
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124
wpilibj/src/shared/java/edu/wpi/first/wpilibj/GyroBase.java
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2012. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj;
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import edu.wpi.first.wpilibj.interfaces.Gyro;
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import edu.wpi.first.wpilibj.livewindow.LiveWindow;
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import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
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import edu.wpi.first.wpilibj.tables.ITable;
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/**
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* GyroBase is the common base class for Gyro implementations such as
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* AnalogGyro.
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*/
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public abstract class GyroBase extends SensorBase implements Gyro, PIDSource, LiveWindowSendable {
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private PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
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/**
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* {@inheritDoc}
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*/
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public abstract void calibrate();
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/**
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* {@inheritDoc}
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*/
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public abstract void reset();
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/**
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* {@inheritDoc}
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*/
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public abstract double getAngle();
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/**
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* {@inheritDoc}
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*/
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public abstract double getRate();
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/**
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* Set which parameter of the gyro you are using as a process control
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* variable. The Gyro class supports the rate and displacement parameters
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*
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* @param pidSource An enum to select the parameter.
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*/
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public void setPIDSourceType(PIDSourceType pidSource) {
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m_pidSource = pidSource;
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}
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/**
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* {@inheritDoc}
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*/
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public PIDSourceType getPIDSourceType() {
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return m_pidSource;
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}
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/**
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* Get the output of the gyro for use with PIDControllers. May be the angle or
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* rate depending on the set PIDSourceType
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*
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* @return the output according to the gyro
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*/
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@Override
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public double pidGet() {
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switch (m_pidSource) {
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case kRate:
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return getRate();
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case kDisplacement:
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return getAngle();
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default:
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return 0.0;
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}
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}
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/*
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* Live Window code, only does anything if live window is activated.
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*/
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@Override
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public String getSmartDashboardType() {
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return "Gyro";
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}
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private ITable m_table;
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/**
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* {@inheritDoc}
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*/
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@Override
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public void initTable(ITable subtable) {
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m_table = subtable;
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updateTable();
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}
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/**
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* {@inheritDoc}
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*/
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@Override
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public ITable getTable() {
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return m_table;
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}
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/**
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* {@inheritDoc}
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*/
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@Override
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public void updateTable() {
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if (m_table != null) {
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m_table.putNumber("Value", getAngle());
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}
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}
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/**
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* {@inheritDoc}
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*/
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@Override
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public void startLiveWindowMode() {}
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/**
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* {@inheritDoc}
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*/
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@Override
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public void stopLiveWindowMode() {}
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}
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193
wpilibj/src/shared/java/edu/wpi/first/wpilibj/SensorBase.java
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193
wpilibj/src/shared/java/edu/wpi/first/wpilibj/SensorBase.java
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2012. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj;
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/**
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* Base class for all sensors. Stores most recent status information as well as
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* containing utility functions for checking channels and error processing.
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*/
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public abstract class SensorBase { // TODO: Refactor
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// TODO: Move this to the HAL
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/**
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* Ticks per microsecond
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*/
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public static final int kSystemClockTicksPerMicrosecond = 40;
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/**
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* Number of digital channels per roboRIO
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*/
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public static final int kDigitalChannels = 26;
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/**
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* Number of analog input channels
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*/
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public static final int kAnalogInputChannels = 8;
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/**
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* Number of analog output channels
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*/
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public static final int kAnalogOutputChannels = 2;
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/**
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* Number of solenoid channels per module
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*/
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public static final int kSolenoidChannels = 8;
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/**
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* Number of solenoid modules
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*/
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public static final int kSolenoidModules = 2;
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/**
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* Number of PWM channels per roboRIO
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*/
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public static final int kPwmChannels = 20;
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/**
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* Number of relay channels per roboRIO
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*/
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public static final int kRelayChannels = 4;
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/**
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* Number of power distribution channels
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*/
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public static final int kPDPChannels = 16;
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/**
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* Number of power distribution modules
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*/
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public static final int kPDPModules = 63;
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private static int m_defaultSolenoidModule = 0;
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/**
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* Creates an instance of the sensor base and gets an FPGA handle
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*/
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public SensorBase() {}
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/**
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* Set the default location for the Solenoid module.
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*
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* @param moduleNumber The number of the solenoid module to use.
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*/
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public static void setDefaultSolenoidModule(final int moduleNumber) {
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checkSolenoidModule(moduleNumber);
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SensorBase.m_defaultSolenoidModule = moduleNumber;
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}
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/**
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* Verify that the solenoid module is correct.
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*
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* @param moduleNumber The solenoid module module number to check.
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*/
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protected static void checkSolenoidModule(final int moduleNumber) {
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}
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/**
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* Check that the digital channel number is valid. Verify that the channel
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* number is one of the legal channel numbers. Channel numbers are 1-based.
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*
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* @param channel The channel number to check.
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*/
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protected static void checkDigitalChannel(final int channel) {
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if (channel < 0 || channel >= kDigitalChannels) {
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throw new IndexOutOfBoundsException("Requested digital channel number is out of range.");
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}
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}
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/**
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* Check that the digital channel number is valid. Verify that the channel
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* number is one of the legal channel numbers. Channel numbers are 1-based.
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*
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* @param channel The channel number to check.
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*/
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protected static void checkRelayChannel(final int channel) {
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if (channel < 0 || channel >= kRelayChannels) {
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throw new IndexOutOfBoundsException("Requested relay channel number is out of range.");
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}
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}
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/**
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* Check that the digital channel number is valid. Verify that the channel
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* number is one of the legal channel numbers. Channel numbers are 1-based.
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*
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* @param channel The channel number to check.
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*/
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protected static void checkPWMChannel(final int channel) {
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if (channel < 0 || channel >= kPwmChannels) {
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throw new IndexOutOfBoundsException("Requested PWM channel number is out of range.");
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}
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}
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/**
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* Check that the analog input number is value. Verify that the analog input
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* number is one of the legal channel numbers. Channel numbers are 0-based.
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*
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* @param channel The channel number to check.
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*/
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protected static void checkAnalogInputChannel(final int channel) {
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if (channel < 0 || channel >= kAnalogInputChannels) {
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throw new IndexOutOfBoundsException("Requested analog input channel number is out of range.");
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}
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}
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/**
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* Check that the analog input number is value. Verify that the analog input
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* number is one of the legal channel numbers. Channel numbers are 0-based.
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*
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* @param channel The channel number to check.
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*/
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protected static void checkAnalogOutputChannel(final int channel) {
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if (channel < 0 || channel >= kAnalogOutputChannels) {
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throw new IndexOutOfBoundsException("Requested analog output channel number is out of range.");
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}
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}
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/**
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* Verify that the solenoid channel number is within limits. Channel numbers
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* are 1-based.
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*
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* @param channel The channel number to check.
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*/
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protected static void checkSolenoidChannel(final int channel) {
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if (channel < 0 || channel >= kSolenoidChannels) {
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throw new IndexOutOfBoundsException("Requested solenoid channel number is out of range.");
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}
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}
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/**
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* Verify that the power distribution channel number is within limits. Channel
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* numbers are 1-based.
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*
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* @param channel The channel number to check.
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*/
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protected static void checkPDPChannel(final int channel) {
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if (channel < 0 || channel >= kPDPChannels) {
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throw new IndexOutOfBoundsException("Requested PDP channel number is out of range.");
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}
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}
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/**
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* Verify that the PDP module number is within limits. module numbers are
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* 0-based.
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*$
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* @param module The module number to check.
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*/
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protected static void checkPDPModule(final int module) {
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if (module < 0 || module > kPDPModules) {
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throw new IndexOutOfBoundsException("Requested PDP module number is out of range.");
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}
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}
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/**
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* Get the number of the default solenoid module.
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*
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* @return The number of the default solenoid module.
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*/
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public static int getDefaultSolenoidModule() {
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return SensorBase.m_defaultSolenoidModule;
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}
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/**
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* Free the resources used by this object
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*/
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public void free() {}
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}
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