Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-24 01:31:46 +00:00
Code Issues Packages Projects Releases Wiki Activity

Update to 2018_v4 image and new build system. (#598)

Browse Source 
* Revert "Force OpenCV to 3.1.0 (#602)"

This reverts commit 50ed55e8e2.

* Removes Simulation

* Removes old build system

* Removes old gtest

* Adds new gmock and gtest

* Updates to new ni-libraries

* removes MyRobot (to be replaced)

* moves files to new location

* Adds new sim backend and new test executables

* updates .styleguide and .gitignore

* Changes cpp WPILibVersion to a function

MSVC throws an AV with the old version.

* Disables USBCamera on all systems except for linux

* 2018 NI Libraries

* New build system
This commit is contained in:
Thad House
2017-08-18 21:35:53 -07:00
committed by Peter Johnson
parent 50ed55e8e2
commit e1195e8b9d
1024 changed files with 64481 additions and 61340 deletions
Download Patch File Download Diff File Expand all files Collapse all files

241
hal/src/main/native/athena/AnalogGyro.cpp Normal file
View File

@@ -0,0 +1,241 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016-2017. 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. */
/*----------------------------------------------------------------------------*/
#include "HAL/AnalogGyro.h"
#include <thread>
#include "AnalogInternal.h"
#include "HAL/AnalogAccumulator.h"
#include "HAL/AnalogInput.h"
#include "HAL/handles/IndexedHandleResource.h"
namespace {
struct AnalogGyro {
HAL_AnalogInputHandle handle;
double voltsPerDegreePerSecond;
double offset;
int32_t center;
};
}
static constexpr uint32_t kOversampleBits = 10;
static constexpr uint32_t kAverageBits = 0;
static constexpr double kSamplesPerSecond = 50.0;
static constexpr double kCalibrationSampleTime = 5.0;
static constexpr double kDefaultVoltsPerDegreePerSecond = 0.007;
using namespace hal;
static IndexedHandleResource<HAL_GyroHandle, AnalogGyro, kNumAccumulators,
HAL_HandleEnum::AnalogGyro>
analogGyroHandles;
static void Wait(double seconds) {
if (seconds < 0.0) return;
std::this_thread::sleep_for(std::chrono::duration<double>(seconds));
}
extern "C" {
HAL_GyroHandle HAL_InitializeAnalogGyro(HAL_AnalogInputHandle analogHandle,
int32_t* status) {
if (!HAL_IsAccumulatorChannel(analogHandle, status)) {
if (*status == 0) {
*status = HAL_INVALID_ACCUMULATOR_CHANNEL;
}
return HAL_kInvalidHandle;
}
// handle known to be correct, so no need to type check
int16_t channel = getHandleIndex(analogHandle);
auto handle = analogGyroHandles.Allocate(channel, status);
if (*status != 0)
return HAL_kInvalidHandle; // failed to allocate. Pass error back.
// Initialize port structure
auto gyro = analogGyroHandles.Get(handle);
if (gyro == nullptr) { // would only error on thread issue
*status = HAL_HANDLE_ERROR;
return HAL_kInvalidHandle;
}
gyro->handle = analogHandle;
gyro->voltsPerDegreePerSecond = 0;
gyro->offset = 0;
gyro->center = 0;
return handle;
}
void HAL_SetupAnalogGyro(HAL_GyroHandle handle, int32_t* status) {
auto gyro = analogGyroHandles.Get(handle);
if (gyro == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
gyro->voltsPerDegreePerSecond = kDefaultVoltsPerDegreePerSecond;
HAL_SetAnalogAverageBits(gyro->handle, kAverageBits, status);
if (*status != 0) return;
HAL_SetAnalogOversampleBits(gyro->handle, kOversampleBits, status);
if (*status != 0) return;
double sampleRate =
kSamplesPerSecond * (1 << (kAverageBits + kOversampleBits));
HAL_SetAnalogSampleRate(sampleRate, status);
if (*status != 0) return;
Wait(0.1);
HAL_SetAnalogGyroDeadband(handle, 0.0, status);
if (*status != 0) return;
}
void HAL_FreeAnalogGyro(HAL_GyroHandle handle) {
analogGyroHandles.Free(handle);
}
void HAL_SetAnalogGyroParameters(HAL_GyroHandle handle,
double voltsPerDegreePerSecond, double offset,
int32_t center, int32_t* status) {
auto gyro = analogGyroHandles.Get(handle);
if (gyro == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
gyro->voltsPerDegreePerSecond = voltsPerDegreePerSecond;
gyro->offset = offset;
gyro->center = center;
HAL_SetAccumulatorCenter(gyro->handle, center, status);
}
void HAL_SetAnalogGyroVoltsPerDegreePerSecond(HAL_GyroHandle handle,
double voltsPerDegreePerSecond,
int32_t* status) {
auto gyro = analogGyroHandles.Get(handle);
if (gyro == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
gyro->voltsPerDegreePerSecond = voltsPerDegreePerSecond;
}
void HAL_ResetAnalogGyro(HAL_GyroHandle handle, int32_t* status) {
auto gyro = analogGyroHandles.Get(handle);
if (gyro == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
HAL_ResetAccumulator(gyro->handle, status);
if (*status != 0) return;
const double sampleTime = 1.0 / HAL_GetAnalogSampleRate(status);
const double overSamples =
1 << HAL_GetAnalogOversampleBits(gyro->handle, status);
const double averageSamples =
1 << HAL_GetAnalogAverageBits(gyro->handle, status);
if (*status != 0) return;
Wait(sampleTime * overSamples * averageSamples);
}
void HAL_CalibrateAnalogGyro(HAL_GyroHandle handle, int32_t* status) {
auto gyro = analogGyroHandles.Get(handle);
if (gyro == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
HAL_InitAccumulator(gyro->handle, status);
if (*status != 0) return;
Wait(kCalibrationSampleTime);
int64_t value;
int64_t count;
HAL_GetAccumulatorOutput(gyro->handle, &value, &count, status);
if (*status != 0) return;
gyro->center = static_cast<int32_t>(
static_cast<double>(value) / static_cast<double>(count) + .5);
gyro->offset = static_cast<double>(value) / static_cast<double>(count) -
static_cast<double>(gyro->center);
HAL_SetAccumulatorCenter(gyro->handle, gyro->center, status);
if (*status != 0) return;
HAL_ResetAnalogGyro(handle, status);
}
void HAL_SetAnalogGyroDeadband(HAL_GyroHandle handle, double volts,
int32_t* status) {
auto gyro = analogGyroHandles.Get(handle);
if (gyro == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
int32_t deadband = static_cast<int32_t>(
volts * 1e9 / HAL_GetAnalogLSBWeight(gyro->handle, status) *
(1 << HAL_GetAnalogOversampleBits(gyro->handle, status)));
if (*status != 0) return;
HAL_SetAccumulatorDeadband(gyro->handle, deadband, status);
}
double HAL_GetAnalogGyroAngle(HAL_GyroHandle handle, int32_t* status) {
auto gyro = analogGyroHandles.Get(handle);
if (gyro == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
}
int64_t rawValue = 0;
int64_t count = 0;
HAL_GetAccumulatorOutput(gyro->handle, &rawValue, &count, status);
int64_t value = rawValue - static_cast<int64_t>(static_cast<double>(count) *
gyro->offset);
double scaledValue =
value * 1e-9 *
static_cast<double>(HAL_GetAnalogLSBWeight(gyro->handle, status)) *
static_cast<double>(1 << HAL_GetAnalogAverageBits(gyro->handle, status)) /
(HAL_GetAnalogSampleRate(status) * gyro->voltsPerDegreePerSecond);
return scaledValue;
}
double HAL_GetAnalogGyroRate(HAL_GyroHandle handle, int32_t* status) {
auto gyro = analogGyroHandles.Get(handle);
if (gyro == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
}
return (HAL_GetAnalogAverageValue(gyro->handle, status) -
(static_cast<double>(gyro->center) + gyro->offset)) *
1e-9 * HAL_GetAnalogLSBWeight(gyro->handle, status) /
((1 << HAL_GetAnalogOversampleBits(gyro->handle, status)) *
gyro->voltsPerDegreePerSecond);
}
double HAL_GetAnalogGyroOffset(HAL_GyroHandle handle, int32_t* status) {
auto gyro = analogGyroHandles.Get(handle);
if (gyro == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
}
return gyro->offset;
}
int32_t HAL_GetAnalogGyroCenter(HAL_GyroHandle handle, int32_t* status) {
auto gyro = analogGyroHandles.Get(handle);
if (gyro == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
}
return gyro->center;
}
}