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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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60
wpilibc/src/main/native/include/frc/ADIS16470_IMU.h
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@@ -13,10 +13,6 @@
#pragma once
#include <frc/DigitalInput.h>
#include <frc/DigitalOutput.h>
#include <frc/DigitalSource.h>
#include <frc/SPI.h>
#include <stdint.h>
#include <atomic>
@@ -25,10 +21,18 @@
#include <hal/SimDevice.h>
#include <networktables/NTSendable.h>
#include <units/acceleration.h>
#include <units/angle.h>
#include <units/angular_velocity.h>
#include <wpi/condition_variable.h>
#include <wpi/mutex.h>
#include <wpi/sendable/SendableHelper.h>
#include "frc/DigitalInput.h"
#include "frc/DigitalOutput.h"
#include "frc/DigitalSource.h"
#include "frc/SPI.h"
namespace frc {
/**
* Use DMA SPI to read rate and acceleration data from the ADIS16470 IMU and
@@ -119,41 +123,32 @@ class ADIS16470_IMU : public nt::NTSendable,
void Reset();
/**
* @brief Returns the current integrated angle for the axis specified.
*
* The angle is based on the current accumulator value corrected by
* offset calibration and built-in IMU calibration. 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 axis returned by this
* function is adjusted based on the configured yaw_axis.
*
* @return the current heading of the robot in degrees. This heading is based
* on integration of the returned rate from the gyro.
* Returns the yaw axis angle in degrees (CCW positive).
*/
double GetAngle() const;
units::degree_t GetAngle() const;
double GetRate() const;
/**
* Returns the acceleration in the X axis.
*/
units::meters_per_second_squared_t GetAccelX() const;
double GetGyroRateX() const;
/**
* Returns the acceleration in the Y axis.
*/
units::meters_per_second_squared_t GetAccelY() const;
double GetGyroRateY() const;
/**
* Returns the acceleration in the Z axis.
*/
units::meters_per_second_squared_t GetAccelZ() const;
double GetGyroRateZ() const;
units::degree_t GetXComplementaryAngle() const;
double GetAccelX() const;
units::degree_t GetYComplementaryAngle() const;
double GetAccelY() const;
units::degree_t GetXFilteredAccelAngle() const;
double GetAccelZ() const;
double GetXComplementaryAngle() const;
double GetYComplementaryAngle() const;
double GetXFilteredAccelAngle() const;
double GetYFilteredAccelAngle() const;
units::degree_t GetYFilteredAccelAngle() const;
IMUAxis GetYawAxis() const;
@@ -380,9 +375,6 @@ class ADIS16470_IMU : public nt::NTSendable,
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;