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Merge "Moved gyro calibration into a separate function so teams can recalibrate at any time after construction"

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Peter Johnson (294)
2015-11-27 22:44:43 -08:00
committed by Gerrit Code Review
parent 2f2184e8ce 9b4dd268b0
commit d998e53f9a
6 changed files with 80 additions and 91 deletions
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38
wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogGyro.java
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@@ -42,18 +42,7 @@ public class AnalogGyro extends GyroBase implements Gyro, PIDSource, LiveWindowS
/**
* {@inheritDoc}
*/
public void initGyro() {
result = new AccumulatorResult();
if (m_analog == null) {
System.out.println("Null m_analog");
}
m_voltsPerDegreePerSecond = kDefaultVoltsPerDegreePerSecond;
m_analog.setAverageBits(kAverageBits);
m_analog.setOversampleBits(kOversampleBits);
double sampleRate = kSamplesPerSecond * (1 << (kAverageBits + kOversampleBits));
AnalogInput.setGlobalSampleRate(sampleRate);
Timer.delay(1.0);
public void calibrate() {
m_analog.initAccumulator();
m_analog.resetAccumulator();
@@ -67,13 +56,6 @@ public class AnalogGyro extends GyroBase implements Gyro, PIDSource, LiveWindowS
m_analog.setAccumulatorCenter(m_center);
m_analog.resetAccumulator();
setDeadband(0.0);
setPIDSourceType(PIDSourceType.kDisplacement);
UsageReporting.report(tResourceType.kResourceType_Gyro, m_analog.getChannel());
LiveWindow.addSensor("AnalogGyro", m_analog.getChannel(), this);
}
/**
@@ -99,7 +81,23 @@ public class AnalogGyro extends GyroBase implements Gyro, PIDSource, LiveWindowS
if (m_analog == null) {
throw new NullPointerException("AnalogInput supplied to Gyro constructor is null");
}
initGyro();
result = new AccumulatorResult();
m_voltsPerDegreePerSecond = kDefaultVoltsPerDegreePerSecond;
m_analog.setAverageBits(kAverageBits);
m_analog.setOversampleBits(kOversampleBits);
double sampleRate = kSamplesPerSecond * (1 << (kAverageBits + kOversampleBits));
AnalogInput.setGlobalSampleRate(sampleRate);
Timer.delay(0.1);
setDeadband(0.0);
setPIDSourceType(PIDSourceType.kDisplacement);
UsageReporting.report(tResourceType.kResourceType_Gyro, m_analog.getChannel());
LiveWindow.addSensor("AnalogGyro", m_analog.getChannel(), this);
calibrate();
}
/**

2
wpilibj/src/athena/java/edu/wpi/first/wpilibj/GyroBase.java
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@@ -21,7 +21,7 @@ public abstract class GyroBase extends SensorBase implements Gyro, PIDSource, Li
/**
* {@inheritDoc}
*/
public abstract void initGyro();
public abstract void calibrate();
/**
* {@inheritDoc}