[examples] Add RomiGyro to the Romi Reference example (#3037)

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/sensors/RomiGyro.java

@@ -0,0 +1,124 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj.examples.romireference.sensors;
+
+import edu.wpi.first.hal.SimDevice;
+import edu.wpi.first.hal.SimDevice.Direction;
+import edu.wpi.first.hal.SimDouble;
+
+public class RomiGyro {
+  private SimDouble m_simRateX;
+  private SimDouble m_simRateY;
+  private SimDouble m_simRateZ;
+  private SimDouble m_simAngleX;
+  private SimDouble m_simAngleY;
+  private SimDouble m_simAngleZ;
+
+  private double m_angleXOffset;
+  private double m_angleYOffset;
+  private double m_angleZOffset;
+
+  /** Create a new RomiGyro. */
+  public RomiGyro() {
+    SimDevice gyroSimDevice = SimDevice.create("Gyro:RomiGyro");
+    if (gyroSimDevice != null) {
+      gyroSimDevice.createBoolean("init", Direction.kOutput, true);
+      m_simRateX = gyroSimDevice.createDouble("rate_x", Direction.kInput, 0.0);
+      m_simRateY = gyroSimDevice.createDouble("rate_y", Direction.kInput, 0.0);
+      m_simRateZ = gyroSimDevice.createDouble("rate_z", Direction.kInput, 0.0);
+
+      m_simAngleX = gyroSimDevice.createDouble("angle_x", Direction.kInput, 0.0);
+      m_simAngleY = gyroSimDevice.createDouble("angle_y", Direction.kInput, 0.0);
+      m_simAngleZ = gyroSimDevice.createDouble("angle_z", Direction.kInput, 0.0);
+    }
+  }
+
+  /**
+   * Get the rate of turn in degrees-per-second around the X-axis.
+   *
+   * @return rate of turn in degrees-per-second
+   */
+  public double getRateX() {
+    if (m_simRateX != null) {
+      return m_simRateX.get();
+    }
+
+    return 0.0;
+  }
+
+  /**
+   * Get the rate of turn in degrees-per-second around the Y-axis.
+   *
+   * @return rate of turn in degrees-per-second
+   */
+  public double getRateY() {
+    if (m_simRateY != null) {
+      return m_simRateY.get();
+    }
+
+    return 0.0;
+  }
+
+  /**
+   * Get the rate of turn in degrees-per-second around the Z-axis.
+   *
+   * @return rate of turn in degrees-per-second
+   */
+  public double getRateZ() {
+    if (m_simRateZ != null) {
+      return m_simRateZ.get();
+    }
+
+    return 0.0;
+  }
+
+  /**
+   * Get the currently reported angle around the X-axis.
+   *
+   * @return current angle around X-axis in degrees
+   */
+  public double getAngleX() {
+    if (m_simAngleX != null) {
+      return m_simAngleX.get() - m_angleXOffset;
+    }
+
+    return 0.0;
+  }
+
+  /**
+   * Get the currently reported angle around the X-axis.
+   *
+   * @return current angle around Y-axis in degrees
+   */
+  public double getAngleY() {
+    if (m_simAngleY != null) {
+      return m_simAngleY.get() - m_angleYOffset;
+    }
+
+    return 0.0;
+  }
+
+  /**
+   * Get the currently reported angle around the Z-axis.
+   *
+   * @return current angle around Z-axis in degrees
+   */
+  public double getAngleZ() {
+    if (m_simAngleZ != null) {
+      return m_simAngleZ.get() - m_angleZOffset;
+    }
+
+    return 0.0;
+  }
+
+  /** Reset the gyro angles to 0. */
+  public void reset() {
+    if (m_simAngleX != null) {
+      m_angleXOffset = m_simAngleX.get();
+      m_angleYOffset = m_simAngleY.get();
+      m_angleZOffset = m_simAngleZ.get();
+    }
+  }
+}

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/subsystems/Drivetrain.java

@@ -4,9 +4,11 @@
 
 package edu.wpi.first.wpilibj.examples.romireference.subsystems;
 
+import edu.wpi.first.wpilibj.BuiltInAccelerometer;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.Spark;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.examples.romireference.sensors.RomiGyro;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Drivetrain extends SubsystemBase {
@@ -26,6 +28,12 @@ public class Drivetrain extends SubsystemBase {
   // Set up the differential drive controller
   private final DifferentialDrive m_diffDrive = new DifferentialDrive(m_leftMotor, m_rightMotor);
 
+  // Set up the RomiGyro
+  private final RomiGyro m_gyro = new RomiGyro();
+
+  // Set up the BuiltInAccelerometer
+  private final BuiltInAccelerometer m_accelerometer = new BuiltInAccelerometer();
+
   /** Creates a new Drivetrain. */
   public Drivetrain() {
     // Use inches as unit for encoder distances
@@ -63,6 +71,65 @@ public class Drivetrain extends SubsystemBase {
     return (getLeftDistanceInch() + getRightDistanceInch()) / 2.0;
   }
 
+  /**
+   * The acceleration in the X-axis.
+   *
+   * @return The acceleration of the Romi along the X-axis in Gs
+   */
+  public double getAccelX() {
+    return m_accelerometer.getX();
+  }
+
+  /**
+   * The acceleration in the Y-axis.
+   *
+   * @return The acceleration of the Romi along the Y-axis in Gs
+   */
+  public double getAccelY() {
+    return m_accelerometer.getY();
+  }
+
+  /**
+   * The acceleration in the Z-axis.
+   *
+   * @return The acceleration of the Romi along the Z-axis in Gs
+   */
+  public double getAccelZ() {
+    return m_accelerometer.getZ();
+  }
+
+  /**
+   * Current angle of the Romi around the X-axis.
+   *
+   * @return The current angle of the Romi in degrees
+   */
+  public double getGyroAngleX() {
+    return m_gyro.getAngleX();
+  }
+
+  /**
+   * Current angle of the Romi around the Y-axis.
+   *
+   * @return The current angle of the Romi in degrees
+   */
+  public double getGyroAngleY() {
+    return m_gyro.getAngleY();
+  }
+
+  /**
+   * Current angle of the Romi around the Z-axis.
+   *
+   * @return The current angle of the Romi in degrees
+   */
+  public double getGyroAngleZ() {
+    return m_gyro.getAngleZ();
+  }
+
+  /** Reset the gyro. */
+  public void resetGyro() {
+    m_gyro.reset();
+  }
+
   @Override
   public void periodic() {
     // This method will be called once per scheduler run