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Major formatting changes (breaks diffs). No code changes.

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The changes made in this commit do not affect any actual code,
    they are purely aesthetic. I ran clang-format with google style
    over all .h/.cpp files in wpilibc that weren't in wpilibC++Sim
    or gtest, and the eclipse formatter over all of the Java files
    using the Google eclipse formatting configuration.

Change-Id: I9627bca0bc103c398ecc1c5ba17467193291ae63
This commit is contained in:
James Kuszmaul
2015-06-25 15:07:55 -04:00
parent bd64d9a7ef
commit 7eb8550bdb
470 changed files with 89798 additions and 77287 deletions
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261
wpilibc/wpilibC++Devices/src/Gyro.cpp
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@@ -1,5 +1,6 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved. */
/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
/*----------------------------------------------------------------------------*/
@@ -19,149 +20,147 @@ constexpr float Gyro::kDefaultVoltsPerDegreePerSecond;
/**
* Initialize the gyro.
* 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
* 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.
*/
void Gyro::InitGyro()
{
m_table = NULL;
if (!m_analog->IsAccumulatorChannel())
{
wpi_setWPIErrorWithContext(ParameterOutOfRange,
" channel (must be accumulator channel)");
if (m_channelAllocated)
{
delete m_analog;
m_analog = NULL;
}
return;
}
void Gyro::InitGyro() {
m_table = NULL;
if (!m_analog->IsAccumulatorChannel()) {
wpi_setWPIErrorWithContext(ParameterOutOfRange,
" channel (must be accumulator channel)");
if (m_channelAllocated) {
delete m_analog;
m_analog = NULL;
}
return;
}
m_voltsPerDegreePerSecond = kDefaultVoltsPerDegreePerSecond;
m_analog->SetAverageBits(kAverageBits);
m_analog->SetOversampleBits(kOversampleBits);
float sampleRate = kSamplesPerSecond *
(1 << (kAverageBits + kOversampleBits));
m_analog->SetSampleRate(sampleRate);
Wait(1.0);
m_voltsPerDegreePerSecond = kDefaultVoltsPerDegreePerSecond;
m_analog->SetAverageBits(kAverageBits);
m_analog->SetOversampleBits(kOversampleBits);
float sampleRate =
kSamplesPerSecond * (1 << (kAverageBits + kOversampleBits));
m_analog->SetSampleRate(sampleRate);
Wait(1.0);
m_analog->InitAccumulator();
m_analog->InitAccumulator();
Wait(kCalibrationSampleTime);
Wait(kCalibrationSampleTime);
int64_t value;
uint32_t count;
m_analog->GetAccumulatorOutput(&value, &count);
int64_t value;
uint32_t count;
m_analog->GetAccumulatorOutput(&value, &count);
m_center = (uint32_t)((float)value / (float)count + .5);
m_center = (uint32_t)((float)value / (float)count + .5);
m_offset = ((float)value / (float)count) - (float)m_center;
m_analog->SetAccumulatorCenter(m_center);
m_analog->ResetAccumulator();
m_offset = ((float)value / (float)count) - (float)m_center;
m_analog->SetAccumulatorCenter(m_center);
m_analog->ResetAccumulator();
SetDeadband(0.0f);
SetDeadband(0.0f);
SetPIDSourceParameter(kAngle);
SetPIDSourceParameter(kAngle);
HALReport(HALUsageReporting::kResourceType_Gyro, m_analog->GetChannel());
LiveWindow::GetInstance()->AddSensor("Gyro", m_analog->GetChannel(), this);
HALReport(HALUsageReporting::kResourceType_Gyro, m_analog->GetChannel());
LiveWindow::GetInstance()->AddSensor("Gyro", m_analog->GetChannel(), this);
}
/**
* Gyro constructor using the Analog Input channel number.
*
* @param channel The analog channel the gyro is connected to. Gyros
can only be used on on-board Analog Inputs 0-1.
* @param channel The analog channel the gyro is connected to. Gyros
can only be used on on-board Analog Inputs 0-1.
*/
Gyro::Gyro(int32_t channel)
{
m_analog = new AnalogInput(channel);
m_channelAllocated = true;
InitGyro();
Gyro::Gyro(int32_t channel) {
m_analog = new AnalogInput(channel);
m_channelAllocated = true;
InitGyro();
}
/**
* 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.
* This object will not clean up the AnalogInput object when using this
* constructor.
* Gyros can only be used on on-board channels 0-1.
* @param channel A pointer to the AnalogInput object that the gyro is connected to.
* @param channel A pointer to the AnalogInput object that the gyro is connected
* to.
*/
Gyro::Gyro(AnalogInput *channel)
{
m_analog = channel;
m_channelAllocated = false;
if (channel == NULL)
{
wpi_setWPIError(NullParameter);
}
else
{
InitGyro();
}
Gyro::Gyro(AnalogInput *channel) {
m_analog = channel;
m_channelAllocated = false;
if (channel == NULL) {
wpi_setWPIError(NullParameter);
} else {
InitGyro();
}
}
/**
* 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.
* 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;
m_channelAllocated = false;
InitGyro();
Gyro::Gyro(AnalogInput &channel) {
m_analog = &channel;
m_channelAllocated = false;
InitGyro();
}
/**
* Reset the gyro.
* Resets the gyro to a heading of zero. This can be used if there is significant
* Resets the gyro to a heading of zero. This can be used if there is
* significant
* drift in the gyro and it needs to be recalibrated after it has been running.
*/
void Gyro::Reset()
{
m_analog->ResetAccumulator();
}
void Gyro::Reset() { m_analog->ResetAccumulator(); }
/**
* Delete (free) the accumulator and the analog components used for the gyro.
*/
Gyro::~Gyro()
{
if (m_channelAllocated)
delete m_analog;
Gyro::~Gyro() {
if (m_channelAllocated) delete m_analog;
}
/**
* Return the actual angle in degrees that the robot is currently facing.
*
* The angle is based on the current accumulator value corrected by the oversampling rate, the
* 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 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.
* 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
* @return the current heading of the robot in degrees. This heading is based on
* integration
* of the returned rate from the gyro.
*/
float Gyro::GetAngle() const
{
int64_t rawValue;
uint32_t count;
m_analog->GetAccumulatorOutput(&rawValue, &count);
float Gyro::GetAngle() const {
int64_t rawValue;
uint32_t count;
m_analog->GetAccumulatorOutput(&rawValue, &count);
int64_t value = rawValue - (int64_t)((float)count * m_offset);
int64_t value = rawValue - (int64_t)((float)count * m_offset);
double scaledValue = value * 1e-9 * (double)m_analog->GetLSBWeight() * (double)(1 << m_analog->GetAverageBits()) /
(m_analog->GetSampleRate() * m_voltsPerDegreePerSecond);
double scaledValue = value * 1e-9 * (double)m_analog->GetLSBWeight() *
(double)(1 << m_analog->GetAverageBits()) /
(m_analog->GetSampleRate() * m_voltsPerDegreePerSecond);
return (float)scaledValue;
return (float)scaledValue;
}
/**
* Return the rate of rotation of the gyro
*
@@ -169,24 +168,24 @@ float Gyro::GetAngle() const
*
* @return the current rate in degrees per second
*/
double Gyro::GetRate() const
{
return (m_analog->GetAverageValue() - ((double)m_center + m_offset)) * 1e-9 * m_analog->GetLSBWeight()
/ ((1 << m_analog->GetOversampleBits()) * m_voltsPerDegreePerSecond);
double Gyro::GetRate() const {
return (m_analog->GetAverageValue() - ((double)m_center + m_offset)) * 1e-9 *
m_analog->GetLSBWeight() /
((1 << m_analog->GetOversampleBits()) * m_voltsPerDegreePerSecond);
}
/**
* 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. This value is typically found in
* 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. This value is
* typically found in
* the gyro datasheet.
*
* @param voltsPerDegreePerSecond The sensitivity in Volts/degree/second
*/
void Gyro::SetSensitivity( float voltsPerDegreePerSecond )
{
m_voltsPerDegreePerSecond = voltsPerDegreePerSecond;
void Gyro::SetSensitivity(float voltsPerDegreePerSecond) {
m_voltsPerDegreePerSecond = voltsPerDegreePerSecond;
}
/**
@@ -197,21 +196,20 @@ void Gyro::SetSensitivity( float voltsPerDegreePerSecond )
*
* @param volts The size of the deadband in volts
*/
void Gyro::SetDeadband( float volts ) {
int32_t deadband = volts * 1e9 / m_analog->GetLSBWeight() * (1 << m_analog->GetOversampleBits());
m_analog->SetAccumulatorDeadband(deadband);
void Gyro::SetDeadband(float volts) {
int32_t deadband = volts * 1e9 / m_analog->GetLSBWeight() *
(1 << m_analog->GetOversampleBits());
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)
wpi_setWPIErrorWithContext(ParameterOutOfRange, "Gyro pidSource");
m_pidSource = pidSource;
void Gyro::SetPIDSourceParameter(PIDSourceParameter pidSource) {
if (pidSource == 0 || pidSource > 2)
wpi_setWPIErrorWithContext(ParameterOutOfRange, "Gyro pidSource");
m_pidSource = pidSource;
}
/**
@@ -220,41 +218,32 @@ void Gyro::SetPIDSourceParameter(PIDSourceParameter pidSource)
*
* @return The PIDOutput (angle or rate, defaults to angle)
*/
double Gyro::PIDGet() const
{
switch(m_pidSource){
case kRate:
return GetRate();
case kAngle:
return GetAngle();
default:
return 0;
}
double Gyro::PIDGet() const {
switch (m_pidSource) {
case kRate:
return GetRate();
case kAngle:
return GetAngle();
default:
return 0;
}
}
void Gyro::UpdateTable() {
if (m_table != NULL) {
m_table->PutNumber("Value", GetAngle());
}
if (m_table != NULL) {
m_table->PutNumber("Value", GetAngle());
}
}
void Gyro::StartLiveWindowMode() {
void Gyro::StartLiveWindowMode() {}
}
void Gyro::StopLiveWindowMode() {}
void Gyro::StopLiveWindowMode() {
}
std::string Gyro::GetSmartDashboardType() const {
return "Gyro";
}
std::string Gyro::GetSmartDashboardType() const { return "Gyro"; }
void Gyro::InitTable(ITable *subTable) {
m_table = subTable;
UpdateTable();
m_table = subTable;
UpdateTable();
}
ITable * Gyro::GetTable() const {
return m_table;
}
ITable *Gyro::GetTable() const { return m_table; }