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[wpilib] Add Gyro::GetRotation2d() (#2555)

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This commit is contained in:
Tyler Veness
2020-06-29 19:10:07 -07:00
committed by GitHub
parent d9c7bbd046
commit e50dbe0c43
25 changed files with 130 additions and 188 deletions
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32
wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Gyro.java
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2014-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2014-2020 FIRST. 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. */
@@ -7,6 +7,8 @@
package edu.wpi.first.wpilibj.interfaces;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
/**
* Interface for yaw rate gyros.
*/
@@ -27,7 +29,7 @@ public interface Gyro extends AutoCloseable {
void reset();
/**
* Return the actual angle in degrees that the robot is currently facing.
* Return the heading of the robot in degrees.
*
* <p>The angle is based on the current accumulator value corrected by the oversampling rate, the
* gyro type and the A/D calibration values. The angle is continuous, that is it will continue
@@ -35,8 +37,7 @@ public interface Gyro extends AutoCloseable {
* the gyro output as it sweeps past from 360 to 0 on the second time around.
*
* <p>The angle is expected to increase as the gyro turns clockwise when looked
* at from the top. It needs to follow NED axis conventions in order to work
* properly with dependent control loops.
* at from the top. It needs to follow the NED axis convention.
*
* <p>This heading is based on integration of the returned rate from the gyro.
*
@@ -50,10 +51,29 @@ public interface Gyro extends AutoCloseable {
* <p>The rate is based on the most recent reading of the gyro analog value
*
* <p>The rate is expected to be positive as the gyro turns clockwise when looked
* at from the top. It needs to follow NED axis conventions in order to work
* properly with dependent control loops.
* at from the top. It needs to follow the NED axis convention.
*
* @return the current rate in degrees per second
*/
double getRate();
/**
* Return the heading of the robot as a {@link edu.wpi.first.wpilibj.geometry.Rotation2d}.
*
* <p>The angle is based on the current accumulator value corrected by the oversampling rate, the
* gyro type and the A/D calibration values. The angle is continuous, that is it will continue
* from 360 to 361 degrees. This allows algorithms that wouldn't want to see a discontinuity in
* the gyro output as it sweeps past from 360 to 0 on the second time around.
*
* <p>The angle is expected to increase as the gyro turns counterclockwise
* when looked at from the top. It needs to follow the NWU axis convention.
*
* <p>This heading is based on integration of the returned rate from the gyro.
*
* @return the current heading of the robot as a
* {@link edu.wpi.first.wpilibj.geometry.Rotation2d}.
*/
default Rotation2d getRotation2d() {
return new Rotation2d(-getAngle());
}
}