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[wpilib] Remove Analog Gyro specific docs from Gyro interface (#2596)

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This commit is contained in:
sciencewhiz
2020-07-12 15:34:28 -07:00
committed by GitHub
parent 33f7dec5cf
commit f0a34ea64e
3 changed files with 21 additions and 33 deletions
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8
wpilibc/src/main/native/include/frc/ADXRS450_Gyro.h
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@@ -51,21 +51,19 @@ class ADXRS450_Gyro : public GyroBase {
/**
* Return the actual angle in degrees that the robot is currently facing.
*
* 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 based on integration of the returned rate from the gyro.
* The angle is continuous, that is it will continue from 360->361 degrees.
* This allows algorithms that wouldn't want to see a discontinuity in the
* gyro output as it sweeps from 360 to 0 on the second time around.
*
* @return the current heading of the robot in degrees. This heading is based
* on integration of the returned rate from the gyro.
* @return the current heading of the robot in degrees.
*/
double GetAngle() const override;
/**
* Return the rate of rotation of the gyro
*
* The rate is based on the most recent reading of the gyro analog value
* The rate is based on the most recent reading of the gyro.
*
* @return the current rate in degrees per second
*/

24
wpilibc/src/main/native/include/frc/interfaces/Gyro.h
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@@ -25,12 +25,10 @@ class Gyro {
Gyro& operator=(Gyro&&) = default;
/**
* Calibrate the gyro by running for a number of samples and computing the
* center value. Then use the center value as the Accumulator center value for
* subsequent measurements. It's important to make sure that the robot is not
* moving while the centering calculations are in progress, this is typically
* Calibrate the gyro. It's important to make sure that the robot is not
* moving while the calibration is in progress, this is typically
* done when the robot is first turned on while it's sitting at rest before
* the competition starts.
* the match starts.
*/
virtual void Calibrate() = 0;
@@ -44,11 +42,9 @@ class Gyro {
/**
* Return the heading of the robot in degrees.
*
* 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.
* 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.
*
* The angle is expected to increase as the gyro turns clockwise when looked
* at from the top. It needs to follow the NED axis convention.
@@ -73,11 +69,9 @@ class Gyro {
/**
* Return the heading of the robot as a Rotation2d.
*
* 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.
* 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.
*
* 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.

22
wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Gyro.java
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@@ -14,11 +14,9 @@ import edu.wpi.first.wpilibj.geometry.Rotation2d;
*/
public interface Gyro extends AutoCloseable {
/**
* Calibrate the gyro by running for a number of samples and computing the center value. Then use
* the center value as the Accumulator center value for subsequent measurements. It's important to
* make sure that the robot is not moving while the centering calculations are in progress, this
* is typically done when the robot is first turned on while it's sitting at rest before the
* competition starts.
* Calibrate the gyro. It's important to make sure that the robot is not moving while the
* calibration is in progress, this is typically done when the robot is first turned on while
* it's sitting at rest before the match starts.
*/
void calibrate();
@@ -31,10 +29,9 @@ public interface Gyro extends AutoCloseable {
/**
* 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
* 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 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 clockwise when looked
* at from the top. It needs to follow the NED axis convention.
@@ -60,10 +57,9 @@ public interface Gyro extends AutoCloseable {
/**
* 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 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.