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[wpilib] Remove deprecated Gyro interface (#6567)

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Isaac Turner
2024-05-07 12:54:39 +08:00
committed by GitHub
parent 2563ff9f18
commit a6dd95eb9e
4 changed files with 0 additions and 163 deletions
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87
wpilibc/src/main/native/include/frc/interfaces/Gyro.h
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@@ -1,87 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include <units/angle.h>
#include "frc/geometry/Rotation2d.h"
namespace frc {
/**
* Interface for yaw rate gyros.
*
* @deprecated This interface is being removed with no replacement.
*/
class [[deprecated(
"This interface is being removed with no replacement.")]] Gyro {
public:
Gyro() = default;
virtual ~Gyro() = default;
Gyro(Gyro&&) = default;
Gyro& operator=(Gyro&&) = default;
/**
* Calibrate the gyro. It's important to make sure that the robot is not
* moving while the calibration is in progress, this is typically
* done when the robot is first turned on while it's sitting at rest before
* the match starts.
*/
virtual void Calibrate() = 0;
/**
* 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.
*/
virtual void Reset() = 0;
/**
* Return the heading of the robot in degrees.
*
* The angle is continuous, that is it will continue from 360 to 361 degrees.
* This allows algorithms that wouldn't want to see a discontinuity in the
* gyro output as it sweeps past from 360 to 0 on the second time around.
*
* The angle is expected to increase as the gyro turns clockwise when looked
* at from the top. It needs to follow the NED axis convention.
*
* @return the current heading of the robot in degrees. This heading is based
* on integration of the returned rate from the gyro.
*/
virtual double GetAngle() const = 0;
/**
* Return the rate of rotation of the gyro.
*
* The rate is based on the most recent reading of the gyro analog value.
*
* The rate is expected to be positive as the gyro turns clockwise when looked
* at from the top. It needs to follow the NED axis convention.
*
* @return the current rate in degrees per second
*/
virtual double GetRate() const = 0;
/**
* Return the heading of the robot as a Rotation2d.
*
* The angle is continuous, that is it will continue from 360 to 361 degrees.
* This allows algorithms that wouldn't want to see a discontinuity in the
* gyro output as it sweeps past from 360 to 0 on the second time around.
*
* The angle is expected to increase as the gyro turns counterclockwise when
* looked at from the top. It needs to follow the NWU axis convention.
*
* @return the current heading of the robot as a Rotation2d. This heading is
* based on integration of the returned rate from the gyro.
*/
virtual Rotation2d GetRotation2d() const {
return units::degree_t{-GetAngle()};
}
};
} // namespace frc

1
wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/subsystems/DriveSubsystem.h
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@@ -9,7 +9,6 @@
#include <frc/drive/MecanumDrive.h>
#include <frc/geometry/Pose2d.h>
#include <frc/geometry/Rotation2d.h>
#include <frc/interfaces/Gyro.h>
#include <frc/kinematics/MecanumDriveOdometry.h>
#include <frc/kinematics/MecanumDriveWheelSpeeds.h>
#include <frc/motorcontrol/PWMSparkMax.h>

1
wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/DriveSubsystem.h
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@@ -9,7 +9,6 @@
#include <frc/drive/MecanumDrive.h>
#include <frc/geometry/Pose2d.h>
#include <frc/geometry/Rotation2d.h>
#include <frc/interfaces/Gyro.h>
#include <frc/kinematics/ChassisSpeeds.h>
#include <frc/kinematics/SwerveDriveKinematics.h>
#include <frc/kinematics/SwerveDriveOdometry.h>

74
wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Gyro.java
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@@ -1,74 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.interfaces;
import edu.wpi.first.math.geometry.Rotation2d;
/**
* Interface for yaw rate gyros.
*
* @deprecated This interface is being removed with no replacement.
*/
@Deprecated(since = "2024", forRemoval = true)
public interface Gyro extends AutoCloseable {
/**
* Calibrate the gyro. It's important to make sure that the robot is not moving while the
* calibration is in progress, this is typically done when the robot is first turned on while it's
* sitting at rest before the match starts.
*/
void calibrate();
/**
* 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 reset();
/**
* Return the heading of the robot in degrees.
*
* <p>The angle is continuous, that is it will continue from 360 to 361 degrees. This allows
* algorithms that wouldn't want to see a discontinuity in the gyro output as it sweeps past from
* 360 to 0 on the second time around.
*
* <p>The angle is expected to increase as the gyro turns clockwise when looked at from the top.
* It needs to follow the NED axis convention.
*
* <p>This heading is based on integration of the returned rate from the gyro.
*
* @return the current heading of the robot in degrees.
*/
double getAngle();
/**
* Return the rate of rotation of the gyro.
*
* <p>The rate is based on the most recent reading of the gyro analog value
*
* <p>The rate is expected to be positive as the gyro turns clockwise when looked at from the top.
* It needs to follow the NED axis convention.
*
* @return the current rate in degrees per second
*/
double getRate();
/**
* Return the heading of the robot as a {@link edu.wpi.first.math.geometry.Rotation2d}.
*
* <p>The angle is continuous, that is it will continue from 360 to 361 degrees. This allows
* algorithms that wouldn't want to see a discontinuity in the gyro output as it sweeps past from
* 360 to 0 on the second time around.
*
* <p>The angle is expected to increase as the gyro turns counterclockwise when looked at from the
* top. It needs to follow the NWU axis convention.
*
* <p>This heading is based on integration of the returned rate from the gyro.
*
* @return the current heading of the robot as a {@link edu.wpi.first.math.geometry.Rotation2d}.
*/
default Rotation2d getRotation2d() {
return Rotation2d.fromDegrees(-getAngle());
}
}