Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-05 03:21:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Update docs for C++ (fixes artf3761 and artf3953)

Browse Source 
Change-Id: Ic0c4ac8494cadff13461d9bb8b5943cd87619f0a
This commit is contained in:
Kevin O'Connor
2014-12-29 14:09:37 -05:00
parent a6aef54ef4
commit 6d8e782f53
39 changed files with 342 additions and 164 deletions
Download Patch File Download Diff File Expand all files Collapse all files

43
wpilibc/wpilibC++Devices/src/Gyro.cpp
View File

@@ -19,8 +19,8 @@ constexpr float Gyro::kDefaultVoltsPerDegreePerSecond;
/**
* Initialize the gyro.
* Calibrate the gyro by running for a number of samples and computing the center value for this
* part. Then use the center value as the Accumulator center value for subsequent measurements.
* Calibrate the gyro by running for a number of samples and computing the center value.
* Then use the center value as the Accumulator center value for subsequent measurements.
* It's important to make sure that the robot is not moving while the centering calculations are
* in progress, this is typically done when the robot is first turned on while it's sitting at
* rest before the competition starts.
@@ -71,9 +71,9 @@ void Gyro::InitGyro()
}
/**
* Gyro constructor with only a channel..
* Gyro constructor using the channel number.
*
* @param channel The analog channel the gyro is connected to.
* @param channel The analog channel the gyro is connected to. 0-3 are on-board, 4-7 are on the MXP.
*/
Gyro::Gyro(int32_t channel)
{
@@ -83,10 +83,10 @@ Gyro::Gyro(int32_t channel)
}
/**
* Gyro constructor with a precreated analog channel object.
* Use this constructor when the analog channel needs to be shared. There
* is no reference counting when an AnalogInput is passed to the gyro.
* @param channel The AnalogInput object that the gyro is connected to.
* Gyro constructor with a precreated AnalogInput object.
* Use this constructor when the analog channel needs to be shared.
* This object will not clean up the AnalogInput object when using this constructor
* @param channel A pointer to the AnalogInput object that the gyro is connected to.
*/
Gyro::Gyro(AnalogInput *channel)
{
@@ -102,6 +102,12 @@ Gyro::Gyro(AnalogInput *channel)
}
}
/**
* Gyro constructor with a precreated AnalogInput object.
* Use this constructor when the analog channel needs to be shared.
* This object will not clean up the AnalogInput object when using this constructor
* @param channel A reference to the AnalogInput object that the gyro is connected to.
*/
Gyro::Gyro(AnalogInput &channel)
{
m_analog = &channel;
@@ -133,8 +139,8 @@ Gyro::~Gyro()
*
* The angle is based on the current accumulator value corrected by the oversampling rate, the
* gyro type and the A/D calibration values.
* The angle is continuous, that is can go beyond 360 degrees. This make algorithms that wouldn't
* want to see a discontinuity in the gyro output as it sweeps past 0 on the second time around.
* The angle is continuous, that is it will continue from 360->361 degrees. This allows algorithms that wouldn't
* want to see a discontinuity in the gyro output as it sweeps from 360 to 0 on the second time around.
*
* @return the current heading of the robot in degrees. This heading is based on integration
* of the returned rate from the gyro.
@@ -169,11 +175,12 @@ double Gyro::GetRate( void )
/**
* Set the gyro type based on the sensitivity.
* Set the gyro sensitivity.
* This takes the number of volts/degree/second sensitivity of the gyro and uses it in subsequent
* calculations to allow the code to work with multiple gyros.
* calculations to allow the code to work with multiple gyros. This value is typically found in
* the gyro datasheet.
*
* @param voltsPerDegreePerSecond The type of gyro specified as the voltage that represents one degree/second.
* @param voltsPerDegreePerSecond The sensitivity in Volts/degree/second
*/
void Gyro::SetSensitivity( float voltsPerDegreePerSecond )
{
@@ -193,6 +200,11 @@ void Gyro::SetDeadband( float volts ) {
m_analog->SetAccumulatorDeadband(deadband);
}
/**
* Sets the type of output to use with the WPILib PID class
* The gyro supports using either rate or angle for PID calculations
*/
void Gyro::SetPIDSourceParameter(PIDSourceParameter pidSource)
{
if(pidSource == 0 || pidSource > 2)
@@ -201,9 +213,10 @@ void Gyro::SetPIDSourceParameter(PIDSourceParameter pidSource)
}
/**
* Get the angle in degrees for the PIDSource base object.
* Get the PIDOutput for the PIDSource base object. Can be set to return
* angle or rate using SetPIDSourceParameter(). Defaults to angle.
*
* @return The angle in degrees.
* @return The PIDOutput (angle or rate, defaults to angle)
*/
double Gyro::PIDGet()
{