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Merge "Accumulators wait for the next sample after reset"

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Jonathan Leitschuh (WPI)
2014-07-31 12:54:26 -07:00
committed by Gerrit Code Review
parent 41bb0da4e6 8fe888dbc9
commit e0e2b498a5
3 changed files with 34 additions and 6 deletions
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11
wpilibc/wpilibC++/lib/AnalogInput.cpp
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@@ -7,6 +7,7 @@
#include "AnalogInput.h"
//#include "NetworkCommunication/UsageReporting.h"
#include "Resource.h"
#include "Timer.h"
#include "WPIErrors.h"
#include "LiveWindow/LiveWindow.h"
@@ -284,6 +285,16 @@ void AnalogInput::ResetAccumulator()
int32_t status = 0;
resetAccumulator(m_port, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
if(!StatusIsFatal())
{
// Wait until the next sample, so the next call to GetAccumulator*()
// won't have old values.
const float sampleTime = 1.0f / GetSampleRate();
const float overSamples = 1 << GetOversampleBits();
const float averageSamples = 1 << GetAverageBits();
Wait(sampleTime * overSamples * averageSamples);
}
}
/**

21
wpilibc/wpilibC++IntegrationTests/src/TiltPanCameraTest.cpp
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@@ -9,7 +9,7 @@
#include "gtest/gtest.h"
#include "TestBench.h"
static constexpr double kServoResetTime = 1.0;
static constexpr double kServoResetTime = 2.0;
static constexpr double kTestAngle = 180.0;
@@ -44,6 +44,13 @@ protected:
m_tilt = new Servo(TestBench::kCameraTiltChannel);
m_pan = new Servo(TestBench::kCameraPanChannel);
m_spiAccel = new ADXL345_SPI(SPI::kOnboardCS0);
m_tilt->SetAngle(90.0f);
m_pan->SetAngle(0.0f);
Wait(kServoResetTime);
m_gyro->Reset();
}
virtual void TearDown() {
@@ -55,15 +62,17 @@ protected:
Gyro *TiltPanCameraTest::m_gyro = 0;
/**
* Test if the gyro angle defaults to 0 immediately after being reset.
*/
TEST_F(TiltPanCameraTest, DefaultGyroAngle) {
EXPECT_NEAR(0.0f, m_gyro->GetAngle(), 0.01f);
}
/**
* Test if the servo turns 180 degrees and the gyroscope measures this angle
*/
TEST_F(TiltPanCameraTest, GyroAngle) {
m_pan->Set(0.0f);
Wait(kServoResetTime);
m_gyro->Reset();
for(int i = 0; i < 180; i++) {
m_pan->SetAngle(i);

8
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/AnalogInput.java
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@@ -310,6 +310,14 @@ public class AnalogInput extends SensorBase implements PIDSource,
status.order(ByteOrder.LITTLE_ENDIAN);
AnalogJNI.resetAccumulator(m_port, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
// Wait until the next sample, so the next call to getAccumulator*()
// won't have old values.
final double sampleTime = 1.0 / getGlobalSampleRate();
final double overSamples = 1 << getOversampleBits();
final double averageSamples = 1 << getAverageBits();
Timer.delay(sampleTime * overSamples * averageSamples);
}
/**