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[wpilib] Remove deprecated Gyro interface (#6567)

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Isaac Turner
2024-05-07 12:54:39 +08:00
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parent 2563ff9f18
commit a6dd95eb9e
4 changed files with 0 additions and 163 deletions
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74
wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Gyro.java
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// 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());
}
}