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Renamed folders for consistency, using sim/athena/shared schema (#27)
Rename the following folders: hal/lib/Athena -> hal/lib/athena hal/lib/Desktop -> hal/lib/sim hal/lib/Shared -> hal/lib/shared wpilibc/Athena -> wpilibc/athena wpilibc/simulation -> wpilibc/sim Windows users may need to run gradlew clean after updating.
This commit is contained in:
Peter Mitrano
committed by
Peter Johnson
Peter Johnson
parent
54092378e9
commit
e71f454b9d
256
wpilibc/athena/src/AnalogGyro.cpp
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256
wpilibc/athena/src/AnalogGyro.cpp
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. 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 <climits>
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#include "AnalogInput.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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const uint32_t AnalogGyro::kOversampleBits;
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const uint32_t AnalogGyro::kAverageBits;
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constexpr float AnalogGyro::kSamplesPerSecond;
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constexpr float AnalogGyro::kCalibrationSampleTime;
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constexpr float 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(int32_t 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(int32_t channel, uint32_t center, float offset) {
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m_analog = std::make_shared<AnalogInput>(channel);
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InitGyro();
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m_center = center;
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m_offset = offset;
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m_analog->SetAccumulatorCenter(m_center);
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m_analog->ResetAccumulator();
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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, uint32_t center,
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float 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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m_center = center;
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m_offset = offset;
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m_analog->SetAccumulatorCenter(m_center);
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m_analog->ResetAccumulator();
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}
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}
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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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m_analog->ResetAccumulator();
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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_analog->IsAccumulatorChannel()) {
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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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return;
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}
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m_voltsPerDegreePerSecond = kDefaultVoltsPerDegreePerSecond;
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m_analog->SetAverageBits(kAverageBits);
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m_analog->SetOversampleBits(kOversampleBits);
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float sampleRate =
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kSamplesPerSecond * (1 << (kAverageBits + kOversampleBits));
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m_analog->SetSampleRate(sampleRate);
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Wait(0.1);
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SetDeadband(0.0f);
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SetPIDSourceType(PIDSourceType::kDisplacement);
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HALReport(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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m_analog->InitAccumulator();
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Wait(kCalibrationSampleTime);
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int64_t value;
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uint32_t count;
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m_analog->GetAccumulatorOutput(value, count);
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m_center = (uint32_t)((float)value / (float)count + .5);
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m_offset = ((float)value / (float)count) - (float)m_center;
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m_analog->SetAccumulatorCenter(m_center);
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m_analog->ResetAccumulator();
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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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float AnalogGyro::GetAngle() const {
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if (StatusIsFatal()) return 0.f;
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int64_t rawValue;
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uint32_t count;
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m_analog->GetAccumulatorOutput(rawValue, count);
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int64_t value = rawValue - (int64_t)((float)count * m_offset);
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double scaledValue = value * 1e-9 * (double)m_analog->GetLSBWeight() *
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(double)(1 << m_analog->GetAverageBits()) /
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(m_analog->GetSampleRate() * m_voltsPerDegreePerSecond);
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return (float)scaledValue;
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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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return (m_analog->GetAverageValue() - ((double)m_center + m_offset)) * 1e-9 *
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m_analog->GetLSBWeight() /
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((1 << m_analog->GetOversampleBits()) * m_voltsPerDegreePerSecond);
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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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float AnalogGyro::GetOffset() const { return m_offset; }
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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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uint32_t AnalogGyro::GetCenter() const { return m_center; }
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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(float voltsPerDegreePerSecond) {
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m_voltsPerDegreePerSecond = voltsPerDegreePerSecond;
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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(float volts) {
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if (StatusIsFatal()) return;
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int32_t deadband = volts * 1e9 / m_analog->GetLSBWeight() *
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(1 << m_analog->GetOversampleBits());
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m_analog->SetAccumulatorDeadband(deadband);
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}
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