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

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* 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
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64
wpilibc/src/main/native/include/AnalogGyro.h Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2017. 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <memory>
#include "GyroBase.h"
#include "HAL/Types.h"
namespace frc {
class AnalogInput;
/**
* Use a rate gyro to return the robots heading relative to a starting position.
* The Gyro class tracks the robots heading based on the starting position. As
* the robot rotates the new heading is computed by integrating the rate of
* rotation returned by the sensor. When the class is instantiated, it does a
* 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 gyro class must be used with a channel that is
* assigned one of the Analog accumulators from the FPGA. See AnalogInput for
* the current accumulator assignments.
*
* This class is for gyro sensors that connect to an analog input.
*/
class AnalogGyro : public GyroBase {
public:
static const int kOversampleBits = 10;
static const int kAverageBits = 0;
static constexpr double kSamplesPerSecond = 50.0;
static constexpr double kCalibrationSampleTime = 5.0;
static constexpr double kDefaultVoltsPerDegreePerSecond = 0.007;
explicit AnalogGyro(int channel);
explicit AnalogGyro(AnalogInput* channel);
explicit AnalogGyro(std::shared_ptr<AnalogInput> channel);
AnalogGyro(int channel, int center, double offset);
AnalogGyro(std::shared_ptr<AnalogInput> channel, int center, double offset);
virtual ~AnalogGyro();
double GetAngle() const override;
double GetRate() const override;
virtual int GetCenter() const;
virtual double GetOffset() const;
void SetSensitivity(double voltsPerDegreePerSecond);
void SetDeadband(double volts);
void Reset() override;
virtual void InitGyro();
void Calibrate() override;
protected:
std::shared_ptr<AnalogInput> m_analog;
private:
HAL_GyroHandle m_gyroHandle = HAL_kInvalidHandle;
};
} // namespace frc