Merge "Open scope for gyro methods. Fixes FirstForge artf1699."

wpilibc/wpilibC++Devices/include/Gyro.h

@@ -40,6 +40,7 @@ public:
 	void SetDeadband(float volts);
 	void SetPIDSourceParameter(PIDSourceParameter pidSource);
 	virtual void Reset();
+	void InitGyro();
 
 	// PIDSource interface
 	double PIDGet();
@@ -51,10 +52,10 @@ public:
 	void InitTable(ITable *subTable);
 	ITable * GetTable();
 
-private:
-	void InitGyro();
-
+protected:
 	AnalogInput *m_analog;
+
+private:
 	float m_voltsPerDegreePerSecond;
 	float m_offset;
 	bool m_channelAllocated;

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Gyro.java

@@ -29,7 +29,7 @@ public class Gyro extends SensorBase implements PIDSource, LiveWindowSendable {
 	static final double kSamplesPerSecond = 50.0;
 	static final double kCalibrationSampleTime = 5.0;
 	static final double kDefaultVoltsPerDegreePerSecond = 0.007;
-	private AnalogInput m_analog;
+	protected AnalogInput m_analog;
 	double m_voltsPerDegreePerSecond;
 	double m_offset;
 	int m_center;
@@ -45,7 +45,7 @@ public class Gyro extends SensorBase implements PIDSource, LiveWindowSendable {
 	 * calculations are in progress, this is typically done when the robot is
 	 * first turned on while it's sitting at rest before the competition starts.
 	 */
-	private void initGyro() {
+	public void initGyro() {
 		result = new AccumulatorResult();
 		if (m_analog == null) {
 			System.out.println("Null m_analog");