Rename Gyro to AnalogGyro and make Gyro an interface.

Refactor common implementation parts of AnalogGyro into GyroBase.

This will make it possible to add digital gyros in a similar way to how
digital accelerometers were added.

Change-Id: I437ef259e9ecb81f18a91a95c5a58b6607db5e15

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Subsystems/DriveTrain.cpp

@@ -4,7 +4,7 @@
 DriveTrain::DriveTrain()
 		: Subsystem("DriveTrain"), left_encoder(new Encoder(1, 2)),
 			right_encoder(new Encoder(3, 4)), rangefinder(new AnalogInput(6)),
-			gyro(new Gyro(1)) {
+			gyro(new AnalogGyro(1)) {
 	drive = new RobotDrive(new Talon(1), new Talon(2),
 						   new Talon(3), new Talon(4));
 

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Subsystems/DriveTrain.h

@@ -13,7 +13,7 @@ private:
 	RobotDrive* drive;
   std::shared_ptr<Encoder> left_encoder, right_encoder;
   std::shared_ptr<AnalogInput> rangefinder;
-  std::shared_ptr<Gyro> gyro;
+  std::shared_ptr<AnalogGyro> gyro;
 
 public:
 	DriveTrain();

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/Gyro/src/Robot.cpp

@@ -27,7 +27,7 @@ class Robot: public SampleRobot {
 	 const double voltsPerDegreePerSecond = .0128;
 
 	 RobotDrive myRobot;
-	 Gyro gyro;
+	 AnalogGyro gyro;
 	 Joystick joystick;
 
 public:

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GyroMecanum/src/Robot.cpp

@@ -11,7 +11,7 @@
 class Robot: public SampleRobot {
 	Joystick joystick;
 	RobotDrive myRobot;
-	Gyro gyro;
+	AnalogGyro gyro;
 
 	//channels for motors
 	const int leftMotorChannel = 1;

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/DriveTrain.cpp

@@ -13,7 +13,7 @@ DriveTrain::DriveTrain()
 			drive(frontRightCIM, backLeftCIM, frontRightCIM, backRightCIM),
 			rightEncoder(new Encoder(1, 2, true, Encoder::k4X)),
 			leftEncoder(new Encoder(3, 4, false, Encoder::k4X)),
-			gyro(new Gyro(0)) {
+			gyro(new AnalogGyro(0)) {
 	// XXX: LiveWindow::GetInstance()->AddActuator("DriveTrain", "Front Left CIM", (Victor) frontLeftCIM);
 	// XXX: LiveWindow::GetInstance()->AddActuator("DriveTrain", "Front Right CIM", (Victor) frontRightCIM);
 	// XXX: LiveWindow::GetInstance()->AddActuator("DriveTrain", "Back Left CIM", (Victor) backLeftCIM);

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/DriveTrain.h

@@ -16,7 +16,7 @@ private:
 	std::shared_ptr<SpeedController> backLeftCIM, backRightCIM;
 	RobotDrive drive;
 	std::shared_ptr<Encoder> rightEncoder, leftEncoder;
-	std::shared_ptr<Gyro> gyro;
+	std::shared_ptr<AnalogGyro> gyro;
 
 public:
 	DriveTrain();

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/GearsBot/src/org/usfirst/frc/team190/robot/subsystems/DriveTrain.java

@@ -1,9 +1,9 @@
 package $package.subsystems;
 
+import edu.wpi.first.wpilibj.AnalogGyro;
 import edu.wpi.first.wpilibj.AnalogInput;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.Joystick.AxisType;
-import edu.wpi.first.wpilibj.Gyro;
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.RobotDrive;
 import edu.wpi.first.wpilibj.SpeedController;
@@ -25,7 +25,7 @@ public class DriveTrain extends Subsystem {
 	private RobotDrive drive;
 	private Encoder left_encoder, right_encoder;
 	private AnalogInput rangefinder;
-	private Gyro gyro;
+	private AnalogGyro gyro;
 
 	public DriveTrain() {
 		super();
@@ -53,7 +53,7 @@ public class DriveTrain extends Subsystem {
 		}
 
 		rangefinder = new AnalogInput(6);
-		gyro = new Gyro(1);
+		gyro = new AnalogGyro(1);
 
 		// Let's show everything on the LiveWindow
 		LiveWindow.addActuator("Drive Train", "Front_Left Motor", (Talon) front_left_motor);

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/Gyro/src/org/usfirst/frc/team190/robot/Robot.java

@@ -1,8 +1,8 @@
 
 package $package;
 
+import edu.wpi.first.wpilibj.AnalogGyro;
 import edu.wpi.first.wpilibj.CANTalon;
-import edu.wpi.first.wpilibj.Gyro;
 import edu.wpi.first.wpilibj.SampleRobot;
 import edu.wpi.first.wpilibj.RobotDrive;
 import edu.wpi.first.wpilibj.Joystick;
@@ -35,7 +35,7 @@ public class Robot extends SampleRobot {
     final double voltsPerDegreePerSecond = .0128; 
       	
     RobotDrive myRobot;
-    Gyro gyro;
+    AnalogGyro gyro;
     Joystick joystick;
 
     public Robot()
@@ -44,7 +44,7 @@ public class Robot extends SampleRobot {
 	myRobot = new RobotDrive(new CANTalon(leftMotorChannel), new CANTalon(
 		leftRearMotorChannel), new CANTalon(rightMotorChannel),
 		new CANTalon(rightRearMotorChannel));
-	gyro = new Gyro(gyroChannel);
+	gyro = new AnalogGyro(gyroChannel);
 	joystick = new Joystick(joystickChannel);
     }
 

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/GyroMecanum/src/org/usfirst/frc/team190/robot/Robot.java

@@ -1,8 +1,8 @@
 
 package $package;
 
+import edu.wpi.first.wpilibj.AnalogGyro;
 import edu.wpi.first.wpilibj.CANTalon;
-import edu.wpi.first.wpilibj.Gyro;
 import edu.wpi.first.wpilibj.SampleRobot;
 import edu.wpi.first.wpilibj.RobotDrive;
 import edu.wpi.first.wpilibj.Joystick;
@@ -20,7 +20,7 @@ import edu.wpi.first.wpilibj.RobotDrive.MotorType;
 public class Robot extends SampleRobot {
     RobotDrive myRobot;
     Joystick joystick;
-    Gyro gyro;
+    AnalogGyro gyro;
     
     //channels for motors
     final int leftMotorChannel = 1;
@@ -42,7 +42,7 @@ public class Robot extends SampleRobot {
 	myRobot.setInvertedMotor(MotorType.kRearLeft, true); // you may need to change or remove this to match your robot
 	    	
         joystick = new Joystick(0);
-        gyro = new Gyro(gyroChannel);
+        gyro = new AnalogGyro(gyroChannel);
     }
 
     /**

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/subsystems/DriveTrain.java

@@ -3,9 +3,9 @@ package $package.subsystems;
 import $package.Robot;
 import $package.commands.DriveWithJoystick;
 
+import edu.wpi.first.wpilibj.AnalogGyro;
 import edu.wpi.first.wpilibj.CounterBase.EncodingType;
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.Gyro;
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.PIDSource.PIDSourceParameter;
 import edu.wpi.first.wpilibj.RobotDrive;
@@ -24,7 +24,7 @@ public class DriveTrain extends Subsystem {
 	private SpeedController backLeftCIM, backRightCIM;
 	private RobotDrive drive;
 	private Encoder rightEncoder, leftEncoder;
-	private Gyro gyro;
+	private AnalogGyro gyro;
 
 	public DriveTrain() {
 		// Configure drive motors
@@ -67,7 +67,7 @@ public class DriveTrain extends Subsystem {
 		LiveWindow.addSensor("DriveTrain", "Left Encoder", leftEncoder);
 
 		// Configure gyro
-		gyro = new Gyro(2);
+		gyro = new AnalogGyro(2);
 		if (Robot.isReal()) {
 			gyro.setSensitivity(0.007); // TODO: Handle more gracefully?
 		}
@@ -124,4 +124,4 @@ public class DriveTrain extends Subsystem {
 	public double getAngle() {
 		return gyro.getAngle();
 	}
-}
+}

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

@@ -0,0 +1,54 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
+/*----------------------------------------------------------------------------*/
+#pragma once
+
+/**
+ * Interface for yaw rate gyros
+ */
+class Gyro {
+ public:
+  virtual ~Gyro() = default;
+
+  /**
+   * Initialize the gyro. Calibrate the gyro by running for a number of samples
+   * and computing the center value. Then use the center value as the
+   * Accumulator center value for subsequent measurements. It's important to
+   * make sure that the robot is not moving while the centering 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.
+   */
+  virtual void InitGyro() = 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 actual angle in degrees that the robot is currently facing.
+   *
+   * The angle is based on the current accumulator value corrected by the
+   * oversampling rate, the gyro type and the A/D calibration values. 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.
+   *
+   * @return the current heading of the robot in degrees. This heading is based
+   *         on integration of the returned rate from the gyro.
+   */
+  virtual float 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
+   *
+   * @return the current rate in degrees per second
+   */
+  virtual double GetRate() const = 0;
+};

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

@@ -6,11 +6,7 @@
 /*----------------------------------------------------------------------------*/
 #pragma once
 
-#include "SensorBase.h"
-#include "PIDSource.h"
-#include "LiveWindow/LiveWindowSendable.h"
-
-#include <memory>
+#include "GyroBase.h"
 
 class AnalogInput;
 
@@ -29,8 +25,10 @@ class AnalogInput;
  * with a channel that is assigned one of the Analog accumulators from the FPGA.
  * See
  * AnalogInput for the current accumulator assignments.
+ *
+ * This class is for gyro sensors that connect to an analog input.
  */
-class Gyro : public SensorBase, public PIDSource, public LiveWindowSendable {
+class AnalogGyro : public GyroBase {
  public:
   static const uint32_t kOversampleBits = 10;
   static const uint32_t kAverageBits = 0;
@@ -38,29 +36,22 @@ class Gyro : public SensorBase, public PIDSource, public LiveWindowSendable {
   static constexpr float kCalibrationSampleTime = 5.0;
   static constexpr float kDefaultVoltsPerDegreePerSecond = 0.007;
 
-  explicit Gyro(int32_t channel);
+  explicit AnalogGyro(int32_t channel);
   DEPRECATED(
-      "Raw pointers are deprecated; consider calling the Gyro constructor with "
-      "a channel number or passing a shared_ptr instead.")
-  explicit Gyro(AnalogInput *channel);
-  explicit Gyro(std::shared_ptr<AnalogInput> channel);
-  virtual ~Gyro() = default;
-  virtual float GetAngle() const;
-  virtual double GetRate() const;
+      "Raw pointers are deprecated; consider calling the AnalogGyro constructor"
+      " with a channel number or passing a shared_ptr instead.")
+  explicit AnalogGyro(AnalogInput *channel);
+  explicit AnalogGyro(std::shared_ptr<AnalogInput> channel);
+  virtual ~AnalogGyro() = default;
+
+  float GetAngle() const override;
+  double GetRate() const override;
   void SetSensitivity(float voltsPerDegreePerSecond);
   void SetDeadband(float volts);
-  virtual void Reset();
-  void InitGyro();
+  void Reset() override;
+  void InitGyro() override;
 
-  // PIDSource interface
-  double PIDGet() override;
-
-  void UpdateTable() override;
-  void StartLiveWindowMode() override;
-  void StopLiveWindowMode() override;
   std::string GetSmartDashboardType() const override;
-  void InitTable(std::shared_ptr<ITable> subTable) override;
-  std::shared_ptr<ITable> GetTable() const override;
 
  protected:
   std::shared_ptr<AnalogInput> m_analog;
@@ -69,6 +60,4 @@ class Gyro : public SensorBase, public PIDSource, public LiveWindowSendable {
   float m_voltsPerDegreePerSecond;
   float m_offset;
   uint32_t m_center;
-
-  std::shared_ptr<ITable> m_table = nullptr;
 };

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

@@ -0,0 +1,36 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. All Rights Reserved.
+ */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
+/*----------------------------------------------------------------------------*/
+#pragma once
+
+#include "SensorBase.h"
+#include "PIDSource.h"
+#include "interfaces/Gyro.h"
+#include "LiveWindow/LiveWindowSendable.h"
+
+#include <memory>
+
+/**
+ * GyroBase is the common base class for Gyro implementations such as
+ * AnalogGyro.
+ */
+class GyroBase : public Gyro, public SensorBase, public PIDSource, public LiveWindowSendable {
+ public:
+  virtual ~GyroBase() = default;
+
+  // PIDSource interface
+  double PIDGet() override;
+
+  void UpdateTable() override;
+  void StartLiveWindowMode() override;
+  void StopLiveWindowMode() override;
+  std::string GetSmartDashboardType() const override;
+  void InitTable(std::shared_ptr<ITable> subTable) override;
+  std::shared_ptr<ITable> GetTable() const override;
+
+ private:
+  std::shared_ptr<ITable> m_table;
+};

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

@@ -14,6 +14,7 @@
 #include "ADXL345_I2C.h"
 #include "ADXL345_SPI.h"
 #include "AnalogAccelerometer.h"
+#include "AnalogGyro.h"
 #include "AnalogInput.h"
 #include "AnalogOutput.h"
 #include "AnalogPotentiometer.h"
@@ -49,8 +50,8 @@
 #include "ErrorBase.h"
 #include "GearTooth.h"
 #include "GenericHID.h"
-#include "Gyro.h"
 #include "interfaces/Accelerometer.h"
+#include "interfaces/Gyro.h"
 #include "interfaces/Potentiometer.h"
 #include "I2C.h"
 #include "IterativeRobot.h"

wpilibc/wpilibC++Devices/src/AnalogGyro.cpp

@@ -5,18 +5,18 @@
 /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
 /*----------------------------------------------------------------------------*/
 
-#include "Gyro.h"
+#include "AnalogGyro.h"
 #include "AnalogInput.h"
 //#include "NetworkCommunication/UsageReporting.h"
 #include "Timer.h"
 #include "WPIErrors.h"
 #include "LiveWindow/LiveWindow.h"
 #include <climits>
-const uint32_t Gyro::kOversampleBits;
-const uint32_t Gyro::kAverageBits;
-constexpr float Gyro::kSamplesPerSecond;
-constexpr float Gyro::kCalibrationSampleTime;
-constexpr float Gyro::kDefaultVoltsPerDegreePerSecond;
+const uint32_t AnalogGyro::kOversampleBits;
+const uint32_t AnalogGyro::kAverageBits;
+constexpr float AnalogGyro::kSamplesPerSecond;
+constexpr float AnalogGyro::kCalibrationSampleTime;
+constexpr float AnalogGyro::kDefaultVoltsPerDegreePerSecond;
 
 /**
  * Initialize the gyro.
@@ -30,7 +30,7 @@ constexpr float Gyro::kDefaultVoltsPerDegreePerSecond;
  * it's sitting at
  * rest before the competition starts.
  */
-void Gyro::InitGyro() {
+void AnalogGyro::InitGyro() {
   if (!m_analog->IsAccumulatorChannel()) {
     wpi_setWPIErrorWithContext(ParameterOutOfRange,
                                " channel (must be accumulator channel)");
@@ -74,7 +74,7 @@ void Gyro::InitGyro() {
  * @param channel The analog channel the gyro is connected to. Gyros
                       can only be used on on-board Analog Inputs 0-1.
  */
-Gyro::Gyro(int32_t channel) {
+AnalogGyro::AnalogGyro(int32_t channel) {
   m_analog = std::make_shared<AnalogInput>(channel);
   InitGyro();
 }
@@ -91,9 +91,9 @@ Gyro::Gyro(int32_t channel) {
 DEPRECATED(
     "Raw pointers are deprecated; consider calling the Gyro constructor with "
     "a channel number or passing a shared_ptr instead.")
-Gyro::Gyro(AnalogInput *channel)
-    : Gyro(std::shared_ptr<AnalogInput>(channel,
-                                          NullDeleter<AnalogInput>())) {}
+AnalogGyro::AnalogGyro(AnalogInput *channel)
+    : AnalogGyro(
+          std::shared_ptr<AnalogInput>(channel, NullDeleter<AnalogInput>())) {}
 
 /**
  * Gyro constructor with a precreated AnalogInput object.
@@ -103,7 +103,8 @@ Gyro::Gyro(AnalogInput *channel)
  * @param channel A pointer to the AnalogInput object that the gyro is
  * connected to.
  */
-Gyro::Gyro(std::shared_ptr<AnalogInput> channel) : m_analog(channel) {
+AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel)
+    : m_analog(channel) {
   if (channel == nullptr) {
     wpi_setWPIError(NullParameter);
   } else {
@@ -117,7 +118,7 @@ Gyro::Gyro(std::shared_ptr<AnalogInput> channel) : m_analog(channel) {
  * significant
  * drift in the gyro and it needs to be recalibrated after it has been running.
  */
-void Gyro::Reset() { m_analog->ResetAccumulator(); }
+void AnalogGyro::Reset() { m_analog->ResetAccumulator(); }
 
 /**
  * Return the actual angle in degrees that the robot is currently facing.
@@ -134,7 +135,7 @@ void Gyro::Reset() { m_analog->ResetAccumulator(); }
  * integration
  * of the returned rate from the gyro.
  */
-float Gyro::GetAngle() const {
+float AnalogGyro::GetAngle() const {
   int64_t rawValue;
   uint32_t count;
   m_analog->GetAccumulatorOutput(rawValue, count);
@@ -155,7 +156,7 @@ float Gyro::GetAngle() const {
  *
  * @return the current rate in degrees per second
  */
-double Gyro::GetRate() const {
+double AnalogGyro::GetRate() const {
   return (m_analog->GetAverageValue() - ((double)m_center + m_offset)) * 1e-9 *
          m_analog->GetLSBWeight() /
          ((1 << m_analog->GetOversampleBits()) * m_voltsPerDegreePerSecond);
@@ -171,7 +172,7 @@ double Gyro::GetRate() const {
  *
  * @param voltsPerDegreePerSecond The sensitivity in Volts/degree/second
  */
-void Gyro::SetSensitivity(float voltsPerDegreePerSecond) {
+void AnalogGyro::SetSensitivity(float voltsPerDegreePerSecond) {
   m_voltsPerDegreePerSecond = voltsPerDegreePerSecond;
 }
 
@@ -183,44 +184,10 @@ void Gyro::SetSensitivity(float voltsPerDegreePerSecond) {
  *
  * @param volts The size of the deadband in volts
  */
-void Gyro::SetDeadband(float volts) {
+void AnalogGyro::SetDeadband(float volts) {
   int32_t deadband = volts * 1e9 / m_analog->GetLSBWeight() *
                      (1 << m_analog->GetOversampleBits());
   m_analog->SetAccumulatorDeadband(deadband);
 }
 
-/**
- * Get the PIDOutput for the PIDSource base object. Can be set to return
- * angle or rate using SetPIDSourceType(). Defaults to angle.
- *
- * @return The PIDOutput (angle or rate, defaults to angle)
- */
-double Gyro::PIDGet() {
-  switch (GetPIDSourceType()) {
-    case PIDSourceType::kRate:
-      return GetRate();
-    case PIDSourceType::kDisplacement:
-      return GetAngle();
-    default:
-      return 0;
-  }
-}
-
-void Gyro::UpdateTable() {
-  if (m_table != nullptr) {
-    m_table->PutNumber("Value", GetAngle());
-  }
-}
-
-void Gyro::StartLiveWindowMode() {}
-
-void Gyro::StopLiveWindowMode() {}
-
-std::string Gyro::GetSmartDashboardType() const { return "Gyro"; }
-
-void Gyro::InitTable(std::shared_ptr<ITable> subTable) {
-  m_table = subTable;
-  UpdateTable();
-}
-
-std::shared_ptr<ITable> Gyro::GetTable() const { return m_table; }
+std::string AnalogGyro::GetSmartDashboardType() const { return "AnalogGyro"; }

wpilibc/wpilibC++Devices/src/GyroBase.cpp

@@ -0,0 +1,46 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. All Rights Reserved.
+ */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
+/*----------------------------------------------------------------------------*/
+
+#include "GyroBase.h"
+#include "WPIErrors.h"
+#include "LiveWindow/LiveWindow.h"
+
+/**
+ * Get the PIDOutput for the PIDSource base object. Can be set to return
+ * angle or rate using SetPIDSourceType(). Defaults to angle.
+ *
+ * @return The PIDOutput (angle or rate, defaults to angle)
+ */
+double GyroBase::PIDGet() {
+  switch (GetPIDSourceType()) {
+    case PIDSourceType::kRate:
+      return GetRate();
+    case PIDSourceType::kDisplacement:
+      return GetAngle();
+    default:
+      return 0;
+  }
+}
+
+void GyroBase::UpdateTable() {
+  if (m_table != nullptr) {
+    m_table->PutNumber("Value", GetAngle());
+  }
+}
+
+void GyroBase::StartLiveWindowMode() {}
+
+void GyroBase::StopLiveWindowMode() {}
+
+std::string GyroBase::GetSmartDashboardType() const { return "Gyro"; }
+
+void GyroBase::InitTable(std::shared_ptr<ITable> subTable) {
+  m_table = subTable;
+  UpdateTable();
+}
+
+std::shared_ptr<ITable> GyroBase::GetTable() const { return m_table; }

wpilibc/wpilibC++IntegrationTests/src/TiltPanCameraTest.cpp

@@ -6,7 +6,7 @@
 /*----------------------------------------------------------------------------*/
 
 #include <ADXL345_SPI.h>
-#include <Gyro.h>
+#include <AnalogGyro.h>
 #include <Servo.h>
 #include <Timer.h>
 #include "gtest/gtest.h"
@@ -28,14 +28,14 @@ static constexpr double kAccelerometerTolerance = 0.2;
  */
 class TiltPanCameraTest : public testing::Test {
  protected:
-  static Gyro *m_gyro;
+  static AnalogGyro *m_gyro;
   Servo *m_tilt, *m_pan;
   Accelerometer *m_spiAccel;
 
   static void SetUpTestCase() {
     // The gyro object blocks for 5 seconds in the constructor, so only
     // construct it once for the whole test case
-    m_gyro = new Gyro(TestBench::kCameraGyroChannel);
+    m_gyro = new AnalogGyro(TestBench::kCameraGyroChannel);
     m_gyro->SetSensitivity(0.013);
   }
 
@@ -61,7 +61,7 @@ class TiltPanCameraTest : public testing::Test {
   }
 };
 
-Gyro *TiltPanCameraTest::m_gyro = nullptr;
+AnalogGyro *TiltPanCameraTest::m_gyro = nullptr;
 
 /**
  * Test if the gyro angle defaults to 0 immediately after being reset.

wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/interfaces/Gyro.java

@@ -0,0 +1,56 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
+/*----------------------------------------------------------------------------*/
+package edu.wpi.first.wpilibj.interfaces;
+
+/**
+ * Interface for yaw rate gyros
+ */
+public interface Gyro {
+  /**
+   * Initialize the gyro. Calibrate the gyro by running for a number of samples
+   * and computing the center value. Then use the center value as the
+   * Accumulator center value for subsequent measurements. It's important to
+   * make sure that the robot is not moving while the centering 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.
+   */
+  public void initGyro();
+
+  /**
+   * 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.
+   */
+  public void reset();
+
+  /**
+   * Return the actual angle in degrees that the robot is currently facing.
+   *
+   * The angle is based on the current accumulator value corrected by the
+   * oversampling rate, the gyro type and the A/D calibration values. 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.
+   *
+   * @return the current heading of the robot in degrees. This heading is based
+   *         on integration of the returned rate from the gyro.
+   */
+  public double getAngle();
+
+  /**
+   * Return the rate of rotation of the gyro
+   *
+   * The rate is based on the most recent reading of the gyro analog value
+   *
+   * @return the current rate in degrees per second
+   */
+  public double getRate();
+
+  /**
+   * Free the resources used by the gyro
+   */
+  public void free();
+}

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

@@ -8,6 +8,7 @@ package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
 import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.interfaces.Gyro;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
 import edu.wpi.first.wpilibj.tables.ITable;
@@ -20,8 +21,10 @@ import edu.wpi.first.wpilibj.tables.ITable;
  * short calibration routine where it samples the gyro while at rest to
  * determine the default offset. This is subtracted from each sample to
  * determine the heading.
+ *
+ * This class is for gyro sensors that connect to an analog input.
  */
-public class Gyro extends SensorBase implements PIDSource, LiveWindowSendable {
+public class AnalogGyro extends GyroBase implements Gyro, PIDSource, LiveWindowSendable {
 
   static final int kOversampleBits = 10;
   static final int kAverageBits = 0;
@@ -37,12 +40,7 @@ public class Gyro extends SensorBase implements PIDSource, LiveWindowSendable {
   private PIDSourceType m_pidSource;
 
   /**
-   * Initialize the gyro. Calibrate the gyro by running for a number of samples
-   * and computing the center value. Then use the center value as the
-   * Accumulator center value for subsequent measurements. It's important to
-   * make sure that the robot is not moving while the centering 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.
+   * {@inheritDoc}
    */
   public void initGyro() {
     result = new AccumulatorResult();
@@ -75,7 +73,7 @@ public class Gyro extends SensorBase implements PIDSource, LiveWindowSendable {
     setPIDSourceType(PIDSourceType.kDisplacement);
 
     UsageReporting.report(tResourceType.kResourceType_Gyro, m_analog.getChannel());
-    LiveWindow.addSensor("Gyro", m_analog.getChannel(), this);
+    LiveWindow.addSensor("AnalogGyro", m_analog.getChannel(), this);
   }
 
   /**
@@ -84,7 +82,7 @@ public class Gyro extends SensorBase implements PIDSource, LiveWindowSendable {
    * @param channel The analog channel the gyro is connected to. Gyros can only
    *        be used on on-board channels 0-1.
    */
-  public Gyro(int channel) {
+  public AnalogGyro(int channel) {
     this(new AnalogInput(channel));
     m_channelAllocated = true;
   }
@@ -96,7 +94,7 @@ public class Gyro extends SensorBase implements PIDSource, LiveWindowSendable {
    * @param channel The AnalogInput object that the gyro is connected to. Gyros
    *        can only be used on on-board channels 0-1.
    */
-  public Gyro(AnalogInput channel) {
+  public AnalogGyro(AnalogInput channel) {
     m_analog = channel;
     if (m_analog == null) {
       throw new NullPointerException("AnalogInput supplied to Gyro constructor is null");
@@ -105,9 +103,7 @@ public class Gyro extends SensorBase implements PIDSource, LiveWindowSendable {
   }
 
   /**
-   * 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.
+   * {@inheritDoc}
    */
   public void reset() {
     if (m_analog != null) {
@@ -127,16 +123,7 @@ public class Gyro extends SensorBase implements PIDSource, LiveWindowSendable {
   }
 
   /**
-   * Return the actual angle in degrees that the robot is currently facing.
-   *
-   * The angle is based on the current accumulator value corrected by the
-   * oversampling rate, the gyro type and the A/D calibration values. 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.
-   *
-   * @return the current heading of the robot in degrees. This heading is based
-   *         on integration of the returned rate from the gyro.
+   * {@inheritDoc}
    */
   public double getAngle() {
     if (m_analog == null) {
@@ -155,11 +142,7 @@ public class Gyro extends SensorBase implements PIDSource, LiveWindowSendable {
   }
 
   /**
-   * Return the rate of rotation of the gyro
-   *
-   * The rate is based on the most recent reading of the gyro analog value
-   *
-   * @return the current rate in degrees per second
+   * {@inheritDoc}
    */
   public double getRate() {
     if (m_analog == null) {
@@ -196,87 +179,11 @@ public class Gyro extends SensorBase implements PIDSource, LiveWindowSendable {
     m_analog.setAccumulatorDeadband(deadband);
   }
 
-  /**
-   * Set which parameter of the gyro you are using as a process control
-   * variable. The Gyro class supports the rate and displacement parameters
-   *
-   * @param pidSource An enum to select the parameter.
-   */
-  public void setPIDSourceType(PIDSourceType pidSource) {
-    m_pidSource = pidSource;
-  }
-
-  /**
-   * {@inheritDoc}
-   */
-  public PIDSourceType getPIDSourceType() {
-    return m_pidSource;
-  }
-
-  /**
-   * Get the output of the gyro for use with PIDControllers. May be the angle or
-   * rate depending on the set PIDSourceType
-   *
-   * @return the output according to the gyro
-   */
-  @Override
-  public double pidGet() {
-    switch (m_pidSource) {
-      case kRate:
-        return getRate();
-      case kDisplacement:
-        return getAngle();
-      default:
-        return 0.0;
-    }
-  }
-
   /*
    * Live Window code, only does anything if live window is activated.
    */
   @Override
   public String getSmartDashboardType() {
-    return "Gyro";
+    return "AnalogGyro";
   }
-
-  private ITable m_table;
-
-  /**
-   * {@inheritDoc}
-   */
-  @Override
-  public void initTable(ITable subtable) {
-    m_table = subtable;
-    updateTable();
-  }
-
-  /**
-   * {@inheritDoc}
-   */
-  @Override
-  public ITable getTable() {
-    return m_table;
-  }
-
-  /**
-   * {@inheritDoc}
-   */
-  @Override
-  public void updateTable() {
-    if (m_table != null) {
-      m_table.putNumber("Value", getAngle());
-    }
-  }
-
-  /**
-   * {@inheritDoc}
-   */
-  @Override
-  public void startLiveWindowMode() {}
-
-  /**
-   * {@inheritDoc}
-   */
-  @Override
-  public void stopLiveWindowMode() {}
 }

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

@@ -0,0 +1,124 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2012. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+package edu.wpi.first.wpilibj;
+
+import edu.wpi.first.wpilibj.interfaces.Gyro;
+import edu.wpi.first.wpilibj.livewindow.LiveWindow;
+import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
+import edu.wpi.first.wpilibj.tables.ITable;
+
+/**
+ * GyroBase is the common base class for Gyro implementations such as
+ * AnalogGyro.
+ */
+public abstract class GyroBase extends SensorBase implements Gyro, PIDSource, LiveWindowSendable {
+  private PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
+
+  /**
+   * {@inheritDoc}
+   */
+  public abstract void initGyro();
+
+  /**
+   * {@inheritDoc}
+   */
+  public abstract void reset();
+
+  /**
+   * {@inheritDoc}
+   */
+  public abstract double getAngle();
+
+  /**
+   * {@inheritDoc}
+   */
+  public abstract double getRate();
+
+  /**
+   * Set which parameter of the gyro you are using as a process control
+   * variable. The Gyro class supports the rate and displacement parameters
+   *
+   * @param pidSource An enum to select the parameter.
+   */
+  public void setPIDSourceType(PIDSourceType pidSource) {
+    m_pidSource = pidSource;
+  }
+
+  /**
+   * {@inheritDoc}
+   */
+  public PIDSourceType getPIDSourceType() {
+    return m_pidSource;
+  }
+
+  /**
+   * Get the output of the gyro for use with PIDControllers. May be the angle or
+   * rate depending on the set PIDSourceType
+   *
+   * @return the output according to the gyro
+   */
+  @Override
+  public double pidGet() {
+    switch (m_pidSource) {
+      case kRate:
+        return getRate();
+      case kDisplacement:
+        return getAngle();
+      default:
+        return 0.0;
+    }
+  }
+
+  /*
+   * Live Window code, only does anything if live window is activated.
+   */
+  @Override
+  public String getSmartDashboardType() {
+    return "Gyro";
+  }
+
+  private ITable m_table;
+
+  /**
+   * {@inheritDoc}
+   */
+  @Override
+  public void initTable(ITable subtable) {
+    m_table = subtable;
+    updateTable();
+  }
+
+  /**
+   * {@inheritDoc}
+   */
+  @Override
+  public ITable getTable() {
+    return m_table;
+  }
+
+  /**
+   * {@inheritDoc}
+   */
+  @Override
+  public void updateTable() {
+    if (m_table != null) {
+      m_table.putNumber("Value", getAngle());
+    }
+  }
+
+  /**
+   * {@inheritDoc}
+   */
+  @Override
+  public void startLiveWindowMode() {}
+
+  /**
+   * {@inheritDoc}
+   */
+  @Override
+  public void stopLiveWindowMode() {}
+}

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/TiltPanCameraFixture.java

@@ -8,7 +8,7 @@ package edu.wpi.first.wpilibj.fixtures;
 
 import java.util.logging.Logger;
 
-import edu.wpi.first.wpilibj.Gyro;
+import edu.wpi.first.wpilibj.interfaces.Gyro;
 import edu.wpi.first.wpilibj.Servo;
 import edu.wpi.first.wpilibj.Timer;
 

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java

@@ -12,12 +12,12 @@ import java.util.Arrays;
 import java.util.Collection;
 import java.util.List;
 
+import edu.wpi.first.wpilibj.AnalogGyro;
 import edu.wpi.first.wpilibj.AnalogInput;
 import edu.wpi.first.wpilibj.AnalogOutput;
 import edu.wpi.first.wpilibj.CANJaguar;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.DigitalOutput;
-import edu.wpi.first.wpilibj.Gyro;
 import edu.wpi.first.wpilibj.Jaguar;
 import edu.wpi.first.wpilibj.Relay;
 import edu.wpi.first.wpilibj.Servo;
@@ -29,6 +29,7 @@ import edu.wpi.first.wpilibj.fixtures.DIOCrossConnectFixture;
 import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
 import edu.wpi.first.wpilibj.fixtures.RelayCrossConnectFixture;
 import edu.wpi.first.wpilibj.fixtures.TiltPanCameraFixture;
+import edu.wpi.first.wpilibj.interfaces.Gyro;
 import edu.wpi.first.wpilibj.mockhardware.FakePotentiometerSource;
 
 /**
@@ -253,7 +254,7 @@ public final class TestBench {
     TiltPanCameraFixture tpcam = new TiltPanCameraFixture() {
       @Override
       protected Gyro giveGyro() {
-        Gyro gyro = new Gyro(kGyroChannel);
+        AnalogGyro gyro = new AnalogGyro(kGyroChannel);
         gyro.setSensitivity(kGyroSensitivity);
         return gyro;
       }