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Added gyro deadbands

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During calibration, the Gyro class sets the accumulator deadband to contain
whatever the farthest sample from the center was.  The integration test
passes now.

A SetDeadBand method was added to the Gyro class for teams to set their own
deadbands.

Change-Id: Idbe4c279e2991b4daed4d4cf3bfaf605d4ee25c0
This commit is contained in:
Thomas Clark
2014-08-04 17:44:04 -04:00
parent 14f201cd36
commit 60a3fd0698
3 changed files with 72 additions and 9 deletions
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37
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Gyro.java
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@@ -27,7 +27,8 @@ 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 = 5.0;
static final double kCalibrationSampleTime = 0.01;
static final int kNumCalibrationSamples = 500;
static final double kDefaultVoltsPerDegreePerSecond = 0.007;
private AnalogInput m_analog;
double m_voltsPerDegreePerSecond;
@@ -61,7 +62,21 @@ public class Gyro extends SensorBase implements PIDSource, LiveWindowSendable {
m_analog.initAccumulator();
m_analog.resetAccumulator();
Timer.delay(kCalibrationSampleTime);
// 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);
}
m_analog.getAccumulatorOutput(result);
@@ -70,10 +85,10 @@ public class Gyro extends SensorBase implements PIDSource, LiveWindowSendable {
m_offset = ((double) result.value / (double) result.count)
- m_center;
m_analog.setAccumulatorCenter(m_center);
int deadband = Math.max(highestSample - m_center, m_center - lowestSample);
m_analog.setAccumulatorDeadband(0); // /< TODO: compute / parameterize
// this
m_analog.setAccumulatorCenter(m_center);
m_analog.setAccumulatorDeadband(deadband);
m_analog.resetAccumulator();
setPIDSourceParameter(PIDSourceParameter.kAngle);
@@ -192,6 +207,18 @@ public class Gyro extends SensorBase implements PIDSource, LiveWindowSendable {
m_voltsPerDegreePerSecond = 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.
*
* @param volts The size of the deadband in volts
*/
void setDeadband(double volts) {
int deadband = (int)(volts * 1e9 / m_analog.getLSBWeight() * (1 << m_analog.getOversampleBits()));
m_analog.setAccumulatorDeadband(deadband);
}
/**
* Set which parameter of the encoder you are using as a process control
* variable. The Gyro class supports the rate and angle parameters