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Moved C++ comments from source files to headers (#1111)

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Also sorted functions in C++ sources to match order in related headers.
This commit is contained in:
Tyler Veness
2018-05-31 20:47:15 -07:00
committed by Peter Johnson
parent d9971a705a
commit 8c680a26f8
234 changed files with 9936 additions and 9309 deletions
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73
wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp
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@@ -28,39 +28,8 @@ static constexpr int kPIDRegister = 0x0C;
static constexpr int kSNHighRegister = 0x0E;
static constexpr int kSNLowRegister = 0x10;
/**
* 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 rest before the competition starts.
*/
void ADXRS450_Gyro::Calibrate() {
Wait(0.1);
m_spi.SetAccumulatorCenter(0);
m_spi.ResetAccumulator();
Wait(kCalibrationSampleTime);
m_spi.SetAccumulatorCenter(static_cast<int>(m_spi.GetAccumulatorAverage()));
m_spi.ResetAccumulator();
}
/**
* Gyro constructor on onboard CS0.
*/
ADXRS450_Gyro::ADXRS450_Gyro() : ADXRS450_Gyro(SPI::kOnboardCS0) {}
/**
* Gyro constructor on the specified SPI port.
*
* @param port The SPI port the gyro is attached to.
*/
ADXRS450_Gyro::ADXRS450_Gyro(SPI::Port port) : m_spi(port) {
m_spi.SetClockRate(3000000);
m_spi.SetMSBFirst();
@@ -116,39 +85,25 @@ uint16_t ADXRS450_Gyro::ReadRegister(int reg) {
return static_cast<uint16_t>((BytesToIntBE(buf) >> 5) & 0xffff);
}
/**
* Reset the gyro.
*
* 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 ADXRS450_Gyro::Reset() { m_spi.ResetAccumulator(); }
/**
* 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 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.
*
* @return the current heading of the robot in degrees. This heading is based on
* integration of the returned rate from the gyro.
*/
double ADXRS450_Gyro::GetAngle() const {
return m_spi.GetAccumulatorValue() * kDegreePerSecondPerLSB * kSamplePeriod;
}
/**
* Return the rate of rotation of the gyro
*
* The rate is based on the most recent reading of the gyro analog value
*
* @return the current rate in degrees per second
*/
double ADXRS450_Gyro::GetRate() const {
return static_cast<double>(m_spi.GetAccumulatorLastValue()) *
kDegreePerSecondPerLSB;
}
void ADXRS450_Gyro::Reset() { m_spi.ResetAccumulator(); }
void ADXRS450_Gyro::Calibrate() {
Wait(0.1);
m_spi.SetAccumulatorCenter(0);
m_spi.ResetAccumulator();
Wait(kCalibrationSampleTime);
m_spi.SetAccumulatorCenter(static_cast<int>(m_spi.GetAccumulatorAverage()));
m_spi.ResetAccumulator();
}