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Rename Gyro to AnalogGyro and make Gyro an interface.

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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
This commit is contained in:
Peter Johnson
2015-11-06 12:05:40 -08:00
parent e2a4556669
commit c20d34c2b6
22 changed files with 391 additions and 210 deletions
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2
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Subsystems/DriveTrain.cpp
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@@ -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));

2
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Subsystems/DriveTrain.h
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@@ -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();

2
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/Gyro/src/Robot.cpp
View File

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

2
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GyroMecanum/src/Robot.cpp
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@@ -11,7 +11,7 @@
class Robot: public SampleRobot {
Joystick joystick;
RobotDrive myRobot;
Gyro gyro;
AnalogGyro gyro;
//channels for motors
const int leftMotorChannel = 1;

2
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/DriveTrain.cpp
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@@ -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);

2
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/DriveTrain.h
View File

@@ -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();

6
eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/GearsBot/src/org/usfirst/frc/team190/robot/subsystems/DriveTrain.java
View File

@@ -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);

6
eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/Gyro/src/org/usfirst/frc/team190/robot/Robot.java
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@@ -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);
}

6
eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/GyroMecanum/src/org/usfirst/frc/team190/robot/Robot.java
View File

@@ -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);
}
/**

8
eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/subsystems/DriveTrain.java
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@@ -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();
}
}
}