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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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204
wpilibc/src/main/native/cpp/AnalogGyro.cpp
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@@ -19,43 +19,15 @@
using namespace frc;
/**
* 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.
*/
AnalogGyro::AnalogGyro(int channel)
: AnalogGyro(std::make_shared<AnalogInput>(channel)) {
AddChild(m_analog);
}
/**
* 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.
*
* 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.
*/
AnalogGyro::AnalogGyro(AnalogInput* channel)
: AnalogGyro(
std::shared_ptr<AnalogInput>(channel, NullDeleter<AnalogInput>())) {}
/**
* 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.
*/
AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel)
: m_analog(channel) {
if (channel == nullptr) {
@@ -66,32 +38,11 @@ AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel)
}
}
/**
* Gyro constructor using the Analog Input channel number with parameters for
* presetting the center and offset values. Bypasses calibration.
*
* @param channel The analog channel the gyro is connected to. Gyros can only
* be used on on-board Analog Inputs 0-1.
* @param center Preset uncalibrated value to use as the accumulator center
* value.
* @param offset Preset uncalibrated value to use as the gyro offset.
*/
AnalogGyro::AnalogGyro(int channel, int center, double offset)
: AnalogGyro(std::make_shared<AnalogInput>(channel), center, offset) {
AddChild(m_analog);
}
/**
* Gyro constructor with a precreated AnalogInput object and calibrated
* parameters.
*
* 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.
*/
AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel, int center,
double offset)
: m_analog(channel) {
@@ -111,19 +62,54 @@ AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel, int center,
}
}
/**
* AnalogGyro Destructor
*
*/
AnalogGyro::~AnalogGyro() { HAL_FreeAnalogGyro(m_gyroHandle); }
/**
* 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.
*/
double AnalogGyro::GetAngle() const {
if (StatusIsFatal()) return 0.0;
int32_t status = 0;
double value = HAL_GetAnalogGyroAngle(m_gyroHandle, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
return value;
}
double AnalogGyro::GetRate() const {
if (StatusIsFatal()) return 0.0;
int32_t status = 0;
double value = HAL_GetAnalogGyroRate(m_gyroHandle, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
return value;
}
int AnalogGyro::GetCenter() const {
if (StatusIsFatal()) return 0;
int32_t status = 0;
int value = HAL_GetAnalogGyroCenter(m_gyroHandle, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
return value;
}
double AnalogGyro::GetOffset() const {
if (StatusIsFatal()) return 0.0;
int32_t status = 0;
double value = HAL_GetAnalogGyroOffset(m_gyroHandle, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
return value;
}
void AnalogGyro::SetSensitivity(double voltsPerDegreePerSecond) {
int32_t status = 0;
HAL_SetAnalogGyroVoltsPerDegreePerSecond(m_gyroHandle,
voltsPerDegreePerSecond, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
void AnalogGyro::SetDeadband(double volts) {
if (StatusIsFatal()) return;
int32_t status = 0;
HAL_SetAnalogGyroDeadband(m_gyroHandle, volts, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
void AnalogGyro::Reset() {
if (StatusIsFatal()) return;
int32_t status = 0;
@@ -131,9 +117,6 @@ void AnalogGyro::Reset() {
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
/**
* Initialize the gyro. Calibration is handled by Calibrate().
*/
void AnalogGyro::InitGyro() {
if (StatusIsFatal()) return;
if (m_gyroHandle == HAL_kInvalidHandle) {
@@ -173,98 +156,3 @@ void AnalogGyro::Calibrate() {
HAL_CalibrateAnalogGyro(m_gyroHandle, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
/**
* 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 AnalogGyro::GetAngle() const {
if (StatusIsFatal()) return 0.0;
int32_t status = 0;
double value = HAL_GetAnalogGyroAngle(m_gyroHandle, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
return value;
}
/**
* 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 AnalogGyro::GetRate() const {
if (StatusIsFatal()) return 0.0;
int32_t status = 0;
double value = HAL_GetAnalogGyroRate(m_gyroHandle, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
return value;
}
/**
* Return the gyro offset value. If run after calibration,
* the offset value can be used as a preset later.
*
* @return the current offset value
*/
double AnalogGyro::GetOffset() const {
if (StatusIsFatal()) return 0.0;
int32_t status = 0;
double value = HAL_GetAnalogGyroOffset(m_gyroHandle, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
return value;
}
/**
* Return the gyro center value. If run after calibration,
* the center value can be used as a preset later.
*
* @return the current center value
*/
int AnalogGyro::GetCenter() const {
if (StatusIsFatal()) return 0;
int32_t status = 0;
int value = HAL_GetAnalogGyroCenter(m_gyroHandle, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
return value;
}
/**
* 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 the gyro datasheet.
*
* @param voltsPerDegreePerSecond The sensitivity in Volts/degree/second
*/
void AnalogGyro::SetSensitivity(double voltsPerDegreePerSecond) {
int32_t status = 0;
HAL_SetAnalogGyroVoltsPerDegreePerSecond(m_gyroHandle,
voltsPerDegreePerSecond, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
/**
* Set the size of the neutral zone.
*
* Any voltage from the gyro less than this amount from the center is
* considered stationary. Setting a deadband will decrease the amount of drift
* when the gyro isn't rotating, but will make it less accurate.
*
* @param volts The size of the deadband in volts
*/
void AnalogGyro::SetDeadband(double volts) {
if (StatusIsFatal()) return;
int32_t status = 0;
HAL_SetAnalogGyroDeadband(m_gyroHandle, volts, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}