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Update to 2018_v4 image and new build system. (#598)
* 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
committed by
Peter Johnson
Peter Johnson
parent
50ed55e8e2
commit
e1195e8b9d
284
wpilibc/src/main/native/cpp/AnalogGyro.cpp
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284
wpilibc/src/main/native/cpp/AnalogGyro.cpp
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2017. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "AnalogGyro.h"
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#include "HAL/AnalogGyro.h"
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#include <climits>
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#include "AnalogInput.h"
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#include "HAL/Errors.h"
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#include "HAL/HAL.h"
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#include "LiveWindow/LiveWindow.h"
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#include "Timer.h"
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#include "WPIErrors.h"
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using namespace frc;
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const int AnalogGyro::kOversampleBits;
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const int AnalogGyro::kAverageBits;
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constexpr double AnalogGyro::kSamplesPerSecond;
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constexpr double AnalogGyro::kCalibrationSampleTime;
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constexpr double AnalogGyro::kDefaultVoltsPerDegreePerSecond;
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/**
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* Gyro constructor using the Analog Input channel number.
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*
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* @param channel The analog channel the gyro is connected to. Gyros can only
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* be used on on-board Analog Inputs 0-1.
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*/
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AnalogGyro::AnalogGyro(int channel)
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: AnalogGyro(std::make_shared<AnalogInput>(channel)) {}
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/**
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* Gyro constructor with a precreated AnalogInput object.
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*
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* Use this constructor when the analog channel needs to be shared.
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* This object will not clean up the AnalogInput object when using this
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* constructor.
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*
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* Gyros can only be used on on-board channels 0-1.
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*
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* @param channel A pointer to the AnalogInput object that the gyro is
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* connected to.
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*/
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AnalogGyro::AnalogGyro(AnalogInput* channel)
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: AnalogGyro(
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std::shared_ptr<AnalogInput>(channel, NullDeleter<AnalogInput>())) {}
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/**
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* Gyro constructor with a precreated AnalogInput object.
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*
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* Use this constructor when the analog channel needs to be shared.
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* This object will not clean up the AnalogInput object when using this
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* constructor.
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*
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* @param channel A pointer to the AnalogInput object that the gyro is
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* connected to.
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*/
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AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel)
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: m_analog(channel) {
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if (channel == nullptr) {
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wpi_setWPIError(NullParameter);
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} else {
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InitGyro();
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Calibrate();
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}
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}
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/**
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* Gyro constructor using the Analog Input channel number with parameters for
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* presetting the center and offset values. Bypasses calibration.
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*
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* @param channel The analog channel the gyro is connected to. Gyros can only
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* be used on on-board Analog Inputs 0-1.
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* @param center Preset uncalibrated value to use as the accumulator center
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* value.
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* @param offset Preset uncalibrated value to use as the gyro offset.
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*/
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AnalogGyro::AnalogGyro(int channel, int center, double offset) {
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m_analog = std::make_shared<AnalogInput>(channel);
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InitGyro();
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int32_t status = 0;
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HAL_SetAnalogGyroParameters(m_gyroHandle, kDefaultVoltsPerDegreePerSecond,
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offset, center, &status);
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if (status != 0) {
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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m_gyroHandle = HAL_kInvalidHandle;
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return;
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}
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Reset();
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}
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/**
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* Gyro constructor with a precreated AnalogInput object and calibrated
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* parameters.
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*
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* Use this constructor when the analog channel needs to be shared.
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* This object will not clean up the AnalogInput object when using this
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* constructor.
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*
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* @param channel A pointer to the AnalogInput object that the gyro is
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* connected to.
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*/
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AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel, int center,
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double offset)
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: m_analog(channel) {
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if (channel == nullptr) {
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wpi_setWPIError(NullParameter);
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} else {
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InitGyro();
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int32_t status = 0;
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HAL_SetAnalogGyroParameters(m_gyroHandle, kDefaultVoltsPerDegreePerSecond,
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offset, center, &status);
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if (status != 0) {
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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m_gyroHandle = HAL_kInvalidHandle;
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return;
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}
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Reset();
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}
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}
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/**
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* AnalogGyro Destructor
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*
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*/
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AnalogGyro::~AnalogGyro() { HAL_FreeAnalogGyro(m_gyroHandle); }
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/**
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* Reset the gyro.
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*
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* Resets the gyro to a heading of zero. This can be used if there is
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* significant drift in the gyro and it needs to be recalibrated after it has
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* been running.
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*/
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void AnalogGyro::Reset() {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_ResetAnalogGyro(m_gyroHandle, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Initialize the gyro. Calibration is handled by Calibrate().
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*/
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void AnalogGyro::InitGyro() {
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if (StatusIsFatal()) return;
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if (m_gyroHandle == HAL_kInvalidHandle) {
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int32_t status = 0;
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m_gyroHandle = HAL_InitializeAnalogGyro(m_analog->m_port, &status);
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if (status == PARAMETER_OUT_OF_RANGE) {
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wpi_setWPIErrorWithContext(ParameterOutOfRange,
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" channel (must be accumulator channel)");
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m_analog = nullptr;
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m_gyroHandle = HAL_kInvalidHandle;
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return;
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}
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if (status != 0) {
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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m_analog = nullptr;
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m_gyroHandle = HAL_kInvalidHandle;
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return;
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}
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}
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int32_t status = 0;
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HAL_SetupAnalogGyro(m_gyroHandle, &status);
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if (status != 0) {
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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m_analog = nullptr;
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m_gyroHandle = HAL_kInvalidHandle;
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return;
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}
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HAL_Report(HALUsageReporting::kResourceType_Gyro, m_analog->GetChannel());
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LiveWindow::GetInstance()->AddSensor("AnalogGyro", m_analog->GetChannel(),
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this);
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}
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void AnalogGyro::Calibrate() {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_CalibrateAnalogGyro(m_gyroHandle, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Return the actual angle in degrees that the robot is currently facing.
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*
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* The angle is based on the current accumulator value corrected by the
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* oversampling rate, the gyro type and the A/D calibration values.
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* The angle is continuous, that is it will continue from 360->361 degrees. This
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* allows algorithms that wouldn't want to see a discontinuity in the gyro
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* output as it sweeps from 360 to 0 on the second time around.
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*
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* @return the current heading of the robot in degrees. This heading is based on
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* integration of the returned rate from the gyro.
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*/
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double AnalogGyro::GetAngle() const {
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if (StatusIsFatal()) return 0.0;
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int32_t status = 0;
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double value = HAL_GetAnalogGyroAngle(m_gyroHandle, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return value;
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}
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/**
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* Return the rate of rotation of the gyro
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*
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* The rate is based on the most recent reading of the gyro analog value
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*
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* @return the current rate in degrees per second
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*/
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double AnalogGyro::GetRate() const {
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if (StatusIsFatal()) return 0.0;
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int32_t status = 0;
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double value = HAL_GetAnalogGyroRate(m_gyroHandle, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return value;
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}
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/**
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* Return the gyro offset value. If run after calibration,
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* the offset value can be used as a preset later.
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*
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* @return the current offset value
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*/
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double AnalogGyro::GetOffset() const {
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if (StatusIsFatal()) return 0.0;
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int32_t status = 0;
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double value = HAL_GetAnalogGyroOffset(m_gyroHandle, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return value;
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}
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/**
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* Return the gyro center value. If run after calibration,
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* the center value can be used as a preset later.
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*
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* @return the current center value
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*/
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int AnalogGyro::GetCenter() const {
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if (StatusIsFatal()) return 0;
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int32_t status = 0;
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int value = HAL_GetAnalogGyroCenter(m_gyroHandle, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return value;
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}
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/**
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* Set the gyro sensitivity.
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*
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* This takes the number of volts/degree/second sensitivity of the gyro and uses
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* it in subsequent calculations to allow the code to work with multiple gyros.
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* This value is typically found in the gyro datasheet.
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*
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* @param voltsPerDegreePerSecond The sensitivity in Volts/degree/second
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*/
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void AnalogGyro::SetSensitivity(double voltsPerDegreePerSecond) {
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int32_t status = 0;
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HAL_SetAnalogGyroVoltsPerDegreePerSecond(m_gyroHandle,
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voltsPerDegreePerSecond, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Set the size of the neutral zone.
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*
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* Any voltage from the gyro less than this amount from the center is
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* considered stationary. Setting a deadband will decrease the amount of drift
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* when the gyro isn't rotating, but will make it less accurate.
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*
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* @param volts The size of the deadband in volts
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*/
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void AnalogGyro::SetDeadband(double volts) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetAnalogGyroDeadband(m_gyroHandle, volts, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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