mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-24 01:31:46 +00:00
Renamed Gyro to AnalogGyro to match athena API
Removed references to HAL classes, enabling moving of these classes into shared. Change-Id: I8d9053e1046d6fc2a60e13fb29410fd2c95180d2
This commit is contained in:
Peter_Mitrano
committed by
Peter Johnson
Peter Johnson
parent
fe01096e7a
commit
6faa51ff48
124
wpilibj/src/shared/java/edu/wpi/first/wpilibj/GyroBase.java
Normal file
124
wpilibj/src/shared/java/edu/wpi/first/wpilibj/GyroBase.java
Normal file
@@ -0,0 +1,124 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2008-2012. All Rights Reserved. */
|
||||
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
||||
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
||||
/* the project. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
package edu.wpi.first.wpilibj;
|
||||
|
||||
import edu.wpi.first.wpilibj.interfaces.Gyro;
|
||||
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
|
||||
import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
|
||||
import edu.wpi.first.wpilibj.tables.ITable;
|
||||
|
||||
/**
|
||||
* GyroBase is the common base class for Gyro implementations such as
|
||||
* AnalogGyro.
|
||||
*/
|
||||
public abstract class GyroBase extends SensorBase implements Gyro, PIDSource, LiveWindowSendable {
|
||||
private PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
|
||||
|
||||
/**
|
||||
* {@inheritDoc}
|
||||
*/
|
||||
public abstract void calibrate();
|
||||
|
||||
/**
|
||||
* {@inheritDoc}
|
||||
*/
|
||||
public abstract void reset();
|
||||
|
||||
/**
|
||||
* {@inheritDoc}
|
||||
*/
|
||||
public abstract double getAngle();
|
||||
|
||||
/**
|
||||
* {@inheritDoc}
|
||||
*/
|
||||
public abstract double getRate();
|
||||
|
||||
/**
|
||||
* Set which parameter of the gyro you are using as a process control
|
||||
* variable. The Gyro class supports the rate and displacement parameters
|
||||
*
|
||||
* @param pidSource An enum to select the parameter.
|
||||
*/
|
||||
public void setPIDSourceType(PIDSourceType pidSource) {
|
||||
m_pidSource = pidSource;
|
||||
}
|
||||
|
||||
/**
|
||||
* {@inheritDoc}
|
||||
*/
|
||||
public PIDSourceType getPIDSourceType() {
|
||||
return m_pidSource;
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the output of the gyro for use with PIDControllers. May be the angle or
|
||||
* rate depending on the set PIDSourceType
|
||||
*
|
||||
* @return the output according to the gyro
|
||||
*/
|
||||
@Override
|
||||
public double pidGet() {
|
||||
switch (m_pidSource) {
|
||||
case kRate:
|
||||
return getRate();
|
||||
case kDisplacement:
|
||||
return getAngle();
|
||||
default:
|
||||
return 0.0;
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* Live Window code, only does anything if live window is activated.
|
||||
*/
|
||||
@Override
|
||||
public String getSmartDashboardType() {
|
||||
return "Gyro";
|
||||
}
|
||||
|
||||
private ITable m_table;
|
||||
|
||||
/**
|
||||
* {@inheritDoc}
|
||||
*/
|
||||
@Override
|
||||
public void initTable(ITable subtable) {
|
||||
m_table = subtable;
|
||||
updateTable();
|
||||
}
|
||||
|
||||
/**
|
||||
* {@inheritDoc}
|
||||
*/
|
||||
@Override
|
||||
public ITable getTable() {
|
||||
return m_table;
|
||||
}
|
||||
|
||||
/**
|
||||
* {@inheritDoc}
|
||||
*/
|
||||
@Override
|
||||
public void updateTable() {
|
||||
if (m_table != null) {
|
||||
m_table.putNumber("Value", getAngle());
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* {@inheritDoc}
|
||||
*/
|
||||
@Override
|
||||
public void startLiveWindowMode() {}
|
||||
|
||||
/**
|
||||
* {@inheritDoc}
|
||||
*/
|
||||
@Override
|
||||
public void stopLiveWindowMode() {}
|
||||
}
|
||||
193
wpilibj/src/shared/java/edu/wpi/first/wpilibj/SensorBase.java
Normal file
193
wpilibj/src/shared/java/edu/wpi/first/wpilibj/SensorBase.java
Normal file
@@ -0,0 +1,193 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2008-2012. All Rights Reserved. */
|
||||
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
||||
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
||||
/* the project. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
package edu.wpi.first.wpilibj;
|
||||
|
||||
/**
|
||||
* Base class for all sensors. Stores most recent status information as well as
|
||||
* containing utility functions for checking channels and error processing.
|
||||
*/
|
||||
public abstract class SensorBase { // TODO: Refactor
|
||||
|
||||
// TODO: Move this to the HAL
|
||||
|
||||
/**
|
||||
* Ticks per microsecond
|
||||
*/
|
||||
public static final int kSystemClockTicksPerMicrosecond = 40;
|
||||
/**
|
||||
* Number of digital channels per roboRIO
|
||||
*/
|
||||
public static final int kDigitalChannels = 26;
|
||||
/**
|
||||
* Number of analog input channels
|
||||
*/
|
||||
public static final int kAnalogInputChannels = 8;
|
||||
/**
|
||||
* Number of analog output channels
|
||||
*/
|
||||
public static final int kAnalogOutputChannels = 2;
|
||||
/**
|
||||
* Number of solenoid channels per module
|
||||
*/
|
||||
public static final int kSolenoidChannels = 8;
|
||||
/**
|
||||
* Number of solenoid modules
|
||||
*/
|
||||
public static final int kSolenoidModules = 2;
|
||||
/**
|
||||
* Number of PWM channels per roboRIO
|
||||
*/
|
||||
public static final int kPwmChannels = 20;
|
||||
/**
|
||||
* Number of relay channels per roboRIO
|
||||
*/
|
||||
public static final int kRelayChannels = 4;
|
||||
/**
|
||||
* Number of power distribution channels
|
||||
*/
|
||||
public static final int kPDPChannels = 16;
|
||||
/**
|
||||
* Number of power distribution modules
|
||||
*/
|
||||
public static final int kPDPModules = 63;
|
||||
|
||||
private static int m_defaultSolenoidModule = 0;
|
||||
|
||||
/**
|
||||
* Creates an instance of the sensor base and gets an FPGA handle
|
||||
*/
|
||||
public SensorBase() {}
|
||||
|
||||
/**
|
||||
* Set the default location for the Solenoid module.
|
||||
*
|
||||
* @param moduleNumber The number of the solenoid module to use.
|
||||
*/
|
||||
public static void setDefaultSolenoidModule(final int moduleNumber) {
|
||||
checkSolenoidModule(moduleNumber);
|
||||
SensorBase.m_defaultSolenoidModule = moduleNumber;
|
||||
}
|
||||
|
||||
/**
|
||||
* Verify that the solenoid module is correct.
|
||||
*
|
||||
* @param moduleNumber The solenoid module module number to check.
|
||||
*/
|
||||
protected static void checkSolenoidModule(final int moduleNumber) {
|
||||
}
|
||||
|
||||
/**
|
||||
* Check that the digital channel number is valid. Verify that the channel
|
||||
* number is one of the legal channel numbers. Channel numbers are 1-based.
|
||||
*
|
||||
* @param channel The channel number to check.
|
||||
*/
|
||||
protected static void checkDigitalChannel(final int channel) {
|
||||
if (channel < 0 || channel >= kDigitalChannels) {
|
||||
throw new IndexOutOfBoundsException("Requested digital channel number is out of range.");
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Check that the digital channel number is valid. Verify that the channel
|
||||
* number is one of the legal channel numbers. Channel numbers are 1-based.
|
||||
*
|
||||
* @param channel The channel number to check.
|
||||
*/
|
||||
protected static void checkRelayChannel(final int channel) {
|
||||
if (channel < 0 || channel >= kRelayChannels) {
|
||||
throw new IndexOutOfBoundsException("Requested relay channel number is out of range.");
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Check that the digital channel number is valid. Verify that the channel
|
||||
* number is one of the legal channel numbers. Channel numbers are 1-based.
|
||||
*
|
||||
* @param channel The channel number to check.
|
||||
*/
|
||||
protected static void checkPWMChannel(final int channel) {
|
||||
if (channel < 0 || channel >= kPwmChannels) {
|
||||
throw new IndexOutOfBoundsException("Requested PWM channel number is out of range.");
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Check that the analog input number is value. Verify that the analog input
|
||||
* number is one of the legal channel numbers. Channel numbers are 0-based.
|
||||
*
|
||||
* @param channel The channel number to check.
|
||||
*/
|
||||
protected static void checkAnalogInputChannel(final int channel) {
|
||||
if (channel < 0 || channel >= kAnalogInputChannels) {
|
||||
throw new IndexOutOfBoundsException("Requested analog input channel number is out of range.");
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Check that the analog input number is value. Verify that the analog input
|
||||
* number is one of the legal channel numbers. Channel numbers are 0-based.
|
||||
*
|
||||
* @param channel The channel number to check.
|
||||
*/
|
||||
protected static void checkAnalogOutputChannel(final int channel) {
|
||||
if (channel < 0 || channel >= kAnalogOutputChannels) {
|
||||
throw new IndexOutOfBoundsException("Requested analog output channel number is out of range.");
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Verify that the solenoid channel number is within limits. Channel numbers
|
||||
* are 1-based.
|
||||
*
|
||||
* @param channel The channel number to check.
|
||||
*/
|
||||
protected static void checkSolenoidChannel(final int channel) {
|
||||
if (channel < 0 || channel >= kSolenoidChannels) {
|
||||
throw new IndexOutOfBoundsException("Requested solenoid channel number is out of range.");
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Verify that the power distribution channel number is within limits. Channel
|
||||
* numbers are 1-based.
|
||||
*
|
||||
* @param channel The channel number to check.
|
||||
*/
|
||||
protected static void checkPDPChannel(final int channel) {
|
||||
if (channel < 0 || channel >= kPDPChannels) {
|
||||
throw new IndexOutOfBoundsException("Requested PDP channel number is out of range.");
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Verify that the PDP module number is within limits. module numbers are
|
||||
* 0-based.
|
||||
*$
|
||||
* @param module The module number to check.
|
||||
*/
|
||||
protected static void checkPDPModule(final int module) {
|
||||
if (module < 0 || module > kPDPModules) {
|
||||
throw new IndexOutOfBoundsException("Requested PDP module number is out of range.");
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the number of the default solenoid module.
|
||||
*
|
||||
* @return The number of the default solenoid module.
|
||||
*/
|
||||
public static int getDefaultSolenoidModule() {
|
||||
return SensorBase.m_defaultSolenoidModule;
|
||||
}
|
||||
|
||||
/**
|
||||
* Free the resources used by this object
|
||||
*/
|
||||
public void free() {}
|
||||
}
|
||||
Reference in New Issue
Block a user