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[wpilib] Remove GyroBase

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This commit is contained in:
Peter Johnson
2021-03-12 15:52:02 -08:00
parent 6b168ab0c8
commit 687066af3d
12 changed files with 78 additions and 73 deletions
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12
wpilibc/src/main/native/include/frc/ADXRS450_Gyro.h
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@@ -8,8 +8,11 @@
#include <hal/SimDevice.h>
#include "frc/GyroBase.h"
#include "frc/ErrorBase.h"
#include "frc/SPI.h"
#include "frc/interfaces/Gyro.h"
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
@@ -26,7 +29,10 @@ namespace frc {
* This class is for the digital ADXRS450 gyro sensor that connects via SPI.
* Only one instance of an ADXRS Gyro is supported.
*/
class ADXRS450_Gyro : public GyroBase {
class ADXRS450_Gyro : public Gyro,
public ErrorBase,
public Sendable,
public SendableHelper<ADXRS450_Gyro> {
public:
/**
* Gyro constructor on onboard CS0.
@@ -96,6 +102,8 @@ class ADXRS450_Gyro : public GyroBase {
*/
int GetPort() const;
void InitSendable(SendableBuilder& builder) override;
private:
SPI m_spi;
SPI::Port m_port;