Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-01 02:41:48 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpilib] Add simulation support to ADIS classes (#3857)

Browse Source
This commit is contained in:
Tyler Veness
2022-01-03 11:44:12 -08:00
committed by GitHub
parent c137569f91
commit 831052f118
12 changed files with 1077 additions and 223 deletions
Download Patch File Download Diff File Expand all files Collapse all files

31
wpilibc/src/main/native/include/frc/ADIS16470_IMU.h
View File

@@ -23,6 +23,7 @@
#include <memory>
#include <thread>
#include <hal/SimDevice.h>
#include <networktables/NTSendable.h>
#include <wpi/condition_variable.h>
#include <wpi/mutex.h>
@@ -134,17 +135,17 @@ class ADIS16470_IMU : public nt::NTSendable,
double GetRate() const;
double GetGyroInstantX() const;
double GetGyroRateX() const;
double GetGyroInstantY() const;
double GetGyroRateY() const;
double GetGyroInstantZ() const;
double GetGyroRateZ() const;
double GetAccelInstantX() const;
double GetAccelX() const;
double GetAccelInstantY() const;
double GetAccelY() const;
double GetAccelInstantZ() const;
double GetAccelZ() const;
double GetXComplementaryAngle() const;
@@ -161,6 +162,13 @@ class ADIS16470_IMU : public nt::NTSendable,
// IMU yaw axis
IMUAxis m_yaw_axis;
/**
* Get the SPI port number.
*
* @return The SPI port number.
*/
int GetPort() const;
void InitSendable(nt::NTSendableBuilder& builder) override;
private:
@@ -368,6 +376,17 @@ class ADIS16470_IMU : public nt::NTSendable,
std::thread m_acquire_task;
hal::SimDevice m_simDevice;
hal::SimDouble m_simGyroAngleX;
hal::SimDouble m_simGyroAngleY;
hal::SimDouble m_simGyroAngleZ;
hal::SimDouble m_simGyroRateX;
hal::SimDouble m_simGyroRateY;
hal::SimDouble m_simGyroRateZ;
hal::SimDouble m_simAccelX;
hal::SimDouble m_simAccelY;
hal::SimDouble m_simAccelZ;
struct NonMovableMutexWrapper {
wpi::mutex mutex;
NonMovableMutexWrapper() = default;