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Rename Gyro to AnalogGyro and make Gyro an interface.

Browse Source 
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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117
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Gyro.java → wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/AnalogGyro.java
View File

@@ -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() {}
}

124
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/GyroBase.java Normal file
View File

@@ -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() {}
}