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[wpilib] Make ADIS IMU classes unit-safe (#3860)

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The gyro rate getters were removed since that data isn't available.
This commit is contained in:
Tyler Veness
2022-01-03 20:00:53 -08:00
committed by GitHub
parent 947f589916
commit a2510aaa0e
12 changed files with 381 additions and 666 deletions
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21
wpilibc/src/main/native/cpp/simulation/ADIS16448_IMUSim.cpp
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@@ -14,9 +14,6 @@ ADIS16448_IMUSim::ADIS16448_IMUSim(const frc::ADIS16448_IMU& imu) {
m_simGyroAngleX = deviceSim.GetDouble("gyro_angle_x");
m_simGyroAngleY = deviceSim.GetDouble("gyro_angle_y");
m_simGyroAngleZ = deviceSim.GetDouble("gyro_angle_z");
m_simGyroRateX = deviceSim.GetDouble("gyro_rate_x");
m_simGyroRateY = deviceSim.GetDouble("gyro_rate_y");
m_simGyroRateZ = deviceSim.GetDouble("gyro_rate_z");
m_simAccelX = deviceSim.GetDouble("accel_x");
m_simAccelY = deviceSim.GetDouble("accel_y");
m_simAccelZ = deviceSim.GetDouble("accel_z");
@@ -34,26 +31,14 @@ void ADIS16448_IMUSim::SetGyroAngleZ(units::degree_t angle) {
m_simGyroAngleZ.Set(angle.value());
}
void ADIS16448_IMUSim::SetGyroRateX(units::degrees_per_second_t rate) {
m_simGyroRateX.Set(rate.value());
}
void ADIS16448_IMUSim::SetGyroRateY(units::degrees_per_second_t rate) {
m_simGyroRateY.Set(rate.value());
}
void ADIS16448_IMUSim::SetGyroRateZ(units::degrees_per_second_t rate) {
m_simGyroRateZ.Set(rate.value());
}
void ADIS16448_IMUSim::SetAccelX(units::meters_per_second_squared_t accel) {
m_simAccelX.Set(accel.value() / 9.81);
m_simAccelX.Set(accel.value());
}
void ADIS16448_IMUSim::SetAccelY(units::meters_per_second_squared_t accel) {
m_simAccelY.Set(accel.value() / 9.81);
m_simAccelY.Set(accel.value());
}
void ADIS16448_IMUSim::SetAccelZ(units::meters_per_second_squared_t accel) {
m_simAccelZ.Set(accel.value() / 9.81);
m_simAccelZ.Set(accel.value());
}

21
wpilibc/src/main/native/cpp/simulation/ADIS16470_IMUSim.cpp
View File

@@ -14,9 +14,6 @@ ADIS16470_IMUSim::ADIS16470_IMUSim(const frc::ADIS16470_IMU& imu) {
m_simGyroAngleX = deviceSim.GetDouble("gyro_angle_x");
m_simGyroAngleY = deviceSim.GetDouble("gyro_angle_y");
m_simGyroAngleZ = deviceSim.GetDouble("gyro_angle_z");
m_simGyroRateX = deviceSim.GetDouble("gyro_rate_x");
m_simGyroRateY = deviceSim.GetDouble("gyro_rate_y");
m_simGyroRateZ = deviceSim.GetDouble("gyro_rate_z");
m_simAccelX = deviceSim.GetDouble("accel_x");
m_simAccelY = deviceSim.GetDouble("accel_y");
m_simAccelZ = deviceSim.GetDouble("accel_z");
@@ -34,26 +31,14 @@ void ADIS16470_IMUSim::SetGyroAngleZ(units::degree_t angle) {
m_simGyroAngleZ.Set(angle.value());
}
void ADIS16470_IMUSim::SetGyroRateX(units::degrees_per_second_t rate) {
m_simGyroRateX.Set(rate.value());
}
void ADIS16470_IMUSim::SetGyroRateY(units::degrees_per_second_t rate) {
m_simGyroRateY.Set(rate.value());
}
void ADIS16470_IMUSim::SetGyroRateZ(units::degrees_per_second_t rate) {
m_simGyroRateZ.Set(rate.value());
}
void ADIS16470_IMUSim::SetAccelX(units::meters_per_second_squared_t accel) {
m_simAccelX.Set(accel.value() / 9.81);
m_simAccelX.Set(accel.value());
}
void ADIS16470_IMUSim::SetAccelY(units::meters_per_second_squared_t accel) {
m_simAccelY.Set(accel.value() / 9.81);
m_simAccelY.Set(accel.value());
}
void ADIS16470_IMUSim::SetAccelZ(units::meters_per_second_squared_t accel) {
m_simAccelZ.Set(accel.value() / 9.81);
m_simAccelZ.Set(accel.value());
}