Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Open scope for gyro methods. Fixes FirstForge artf1699.

Browse Source 
Allows user to cause gyro calibration on demand. It also exposes
the AnalogInput object as protected to allow the user to extend
the gyro class and implement their own calibration.

Change-Id: Ib4206a9b16ce6d5e8e5ca9c28a14471974705a7f
This commit is contained in:
Joe Ross
2014-09-06 14:58:36 -07:00
parent c683e24aa9
commit bb8ea17acf
2 changed files with 6 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Gyro.java
View File

@@ -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");