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[hal, wpilib] Remove analog accumulator and analog gyro (#7697)

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The 2 high level classes were temporarily kept to keep the examples compiling. We will remove those when we have the interface into the built in IMU.
This commit is contained in:
Thad House
2025-01-17 12:58:31 -08:00
committed by GitHub
parent 92f0a3c961
commit f80874dd4b
76 changed files with 33 additions and 3886 deletions
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45
wpilibc/src/main/native/include/frc/AnalogGyro.h
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@@ -6,7 +6,6 @@
#include <memory>
#include <hal/AnalogGyro.h>
#include <hal/Types.h>
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
@@ -33,19 +32,13 @@ class AnalogInput;
class AnalogGyro : public wpi::Sendable,
public wpi::SendableHelper<AnalogGyro> {
public:
static constexpr int kOversampleBits = 10;
static constexpr int kAverageBits = 0;
static constexpr double kSamplesPerSecond = 50.0;
static constexpr double kCalibrationSampleTime = 5.0;
static constexpr double kDefaultVoltsPerDegreePerSecond = 0.007;
/**
* %Gyro constructor using the Analog Input channel number.
*
* @param channel The analog channel the gyro is connected to. Gyros can only
* be used on on-board Analog Inputs 0-1.
*/
explicit AnalogGyro(int channel);
explicit AnalogGyro(int channel) {}
/**
* Gyro constructor with a precreated AnalogInput object.
@@ -59,7 +52,7 @@ class AnalogGyro : public wpi::Sendable,
* @param channel A pointer to the AnalogInput object that the gyro is
* connected to.
*/
explicit AnalogGyro(AnalogInput* channel);
explicit AnalogGyro(AnalogInput* channel) {}
/**
* %Gyro constructor with a precreated AnalogInput object.
@@ -71,7 +64,7 @@ class AnalogGyro : public wpi::Sendable,
* @param channel A pointer to the AnalogInput object that the gyro is
* connected to.
*/
explicit AnalogGyro(std::shared_ptr<AnalogInput> channel);
explicit AnalogGyro(std::shared_ptr<AnalogInput> channel) {}
/**
* %Gyro constructor using the Analog Input channel number with parameters for
@@ -83,7 +76,7 @@ class AnalogGyro : public wpi::Sendable,
* value.
* @param offset Preset uncalibrated value to use as the gyro offset.
*/
AnalogGyro(int channel, int center, double offset);
AnalogGyro(int channel, int center, double offset) {}
/**
* %Gyro constructor with a precreated AnalogInput object and calibrated
@@ -99,7 +92,7 @@ class AnalogGyro : public wpi::Sendable,
* value.
* @param offset Preset uncalibrated value to use as the gyro offset.
*/
AnalogGyro(std::shared_ptr<AnalogInput> channel, int center, double offset);
AnalogGyro(std::shared_ptr<AnalogInput> channel, int center, double offset) {}
AnalogGyro(AnalogGyro&& rhs) = default;
AnalogGyro& operator=(AnalogGyro&& rhs) = default;
@@ -118,7 +111,7 @@ class AnalogGyro : public wpi::Sendable,
* @return The current heading of the robot in degrees. This heading is based
* on integration of the returned rate from the gyro.
*/
double GetAngle() const;
double GetAngle() const { return 0; }
/**
* Return the rate of rotation of the gyro
@@ -127,7 +120,7 @@ class AnalogGyro : public wpi::Sendable,
*
* @return the current rate in degrees per second
*/
double GetRate() const;
double GetRate() const { return 0; }
/**
* Return the gyro center value. If run after calibration,
@@ -135,7 +128,7 @@ class AnalogGyro : public wpi::Sendable,
*
* @return the current center value
*/
virtual int GetCenter() const;
virtual int GetCenter() const { return 0; }
/**
* Return the gyro offset value. If run after calibration,
@@ -143,7 +136,7 @@ class AnalogGyro : public wpi::Sendable,
*
* @return the current offset value
*/
virtual double GetOffset() const;
virtual double GetOffset() const { return 0; }
/**
* Set the gyro sensitivity.
@@ -154,7 +147,7 @@ class AnalogGyro : public wpi::Sendable,
*
* @param voltsPerDegreePerSecond The sensitivity in Volts/degree/second
*/
void SetSensitivity(double voltsPerDegreePerSecond);
void SetSensitivity(double voltsPerDegreePerSecond) {}
/**
* Set the size of the neutral zone.
@@ -165,7 +158,7 @@ class AnalogGyro : public wpi::Sendable,
*
* @param volts The size of the deadband in volts
*/
void SetDeadband(double volts);
void SetDeadband(double volts) {}
/**
* Reset the gyro.
@@ -174,14 +167,14 @@ class AnalogGyro : public wpi::Sendable,
* significant drift in the gyro and it needs to be recalibrated after it has
* been running.
*/
void Reset();
void Reset() {}
/**
* Initialize the gyro.
*
* Calibration is handled by Calibrate().
*/
void InitGyro();
void InitGyro() {}
/**
* Calibrate the gyro by running for a number of samples and computing the
@@ -193,7 +186,7 @@ class AnalogGyro : public wpi::Sendable,
* robot is first turned on while it's sitting at rest before the competition
* starts.
*/
void Calibrate();
void Calibrate() {}
/**
* Return the heading of the robot as a Rotation2d.
@@ -208,20 +201,16 @@ class AnalogGyro : public wpi::Sendable,
* @return the current heading of the robot as a Rotation2d. This heading is
* based on integration of the returned rate from the gyro.
*/
Rotation2d GetRotation2d() const;
Rotation2d GetRotation2d() const { return {}; }
/**
* Gets the analog input for the gyro.
*
* @return AnalogInput
*/
std::shared_ptr<AnalogInput> GetAnalogInput() const;
std::shared_ptr<AnalogInput> GetAnalogInput() const { return nullptr; }
void InitSendable(wpi::SendableBuilder& builder) override;
private:
std::shared_ptr<AnalogInput> m_analog;
hal::Handle<HAL_GyroHandle, HAL_FreeAnalogGyro> m_gyroHandle;
void InitSendable(wpi::SendableBuilder& builder) override {}
};
} // namespace frc

81
wpilibc/src/main/native/include/frc/AnalogInput.h
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@@ -31,15 +31,10 @@ class DMASample;
class AnalogInput : public wpi::Sendable,
public wpi::SendableHelper<AnalogInput> {
friend class AnalogTrigger;
friend class AnalogGyro;
friend class DMA;
friend class DMASample;
public:
static constexpr int kAccumulatorModuleNumber = 1;
static constexpr int kAccumulatorNumChannels = 2;
static constexpr int kAccumulatorChannels[kAccumulatorNumChannels] = {0, 1};
/**
* Construct an analog input.
*
@@ -182,81 +177,6 @@ class AnalogInput : public wpi::Sendable,
*/
int GetOffset() const;
/**
* Is the channel attached to an accumulator.
*
* @return The analog input is attached to an accumulator.
*/
bool IsAccumulatorChannel() const;
/**
* Initialize the accumulator.
*/
void InitAccumulator();
/**
* Set an initial value for the accumulator.
*
* This will be added to all values returned to the user.
*
* @param value The value that the accumulator should start from when reset.
*/
void SetAccumulatorInitialValue(int64_t value);
/**
* Resets the accumulator to the initial value.
*/
void ResetAccumulator();
/**
* Set the center value of the accumulator.
*
* The center value is subtracted from each A/D value before it is added to
* the accumulator. This is used for the center value of devices like gyros
* and accelerometers to take the device offset into account when integrating.
*
* This center value is based on the output of the oversampled and averaged
* source from the accumulator channel. Because of this, any non-zero
* oversample bits will affect the size of the value for this field.
*/
void SetAccumulatorCenter(int center);
/**
* Set the accumulator's deadband.
*/
void SetAccumulatorDeadband(int deadband);
/**
* Read the accumulated value.
*
* Read the value that has been accumulating.
* The accumulator is attached after the oversample and average engine.
*
* @return The 64-bit value accumulated since the last Reset().
*/
int64_t GetAccumulatorValue() const;
/**
* Read the number of accumulated values.
*
* Read the count of the accumulated values since the accumulator was last
* Reset().
*
* @return The number of times samples from the channel were accumulated.
*/
int64_t GetAccumulatorCount() const;
/**
* Read the accumulated value and the number of accumulated values atomically.
*
* This function reads the value and count from the FPGA atomically.
* This can be used for averaging.
*
* @param value Reference to the 64-bit accumulated output.
* @param count Reference to the number of accumulation cycles.
*/
void GetAccumulatorOutput(int64_t& value, int64_t& count) const;
/**
* Set the sample rate per channel for all analog channels.
*
@@ -286,7 +206,6 @@ class AnalogInput : public wpi::Sendable,
private:
int m_channel;
hal::Handle<HAL_AnalogInputHandle, HAL_FreeAnalogInputPort> m_port;
int64_t m_accumulatorOffset;
};
} // namespace frc

121
wpilibc/src/main/native/include/frc/simulation/AnalogGyroSim.h
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@@ -1,121 +0,0 @@
// 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.
#pragma once
#include <memory>
#include "frc/simulation/CallbackStore.h"
namespace frc {
class AnalogGyro;
namespace sim {
/**
* Class to control a simulated analog gyro.
*/
class AnalogGyroSim {
public:
/**
* Constructs from an AnalogGyro object.
*
* @param gyro AnalogGyro to simulate
*/
explicit AnalogGyroSim(const AnalogGyro& gyro);
/**
* Constructs from an analog input channel number.
*
* @param channel Channel number
*/
explicit AnalogGyroSim(int channel);
/**
* Register a callback on the angle.
*
* @param callback the callback that will be called whenever the angle changes
* @param initialNotify if true, the callback will be run on the initial value
* @return the CallbackStore object associated with this callback
*/
[[nodiscard]]
std::unique_ptr<CallbackStore> RegisterAngleCallback(NotifyCallback callback,
bool initialNotify);
/**
* Get the current angle of the gyro.
*
* @return the angle measured by the gyro
*/
double GetAngle() const;
/**
* Change the angle measured by the gyro.
*
* @param angle the new value
*/
void SetAngle(double angle);
/**
* Register a callback on the rate.
*
* @param callback the callback that will be called whenever the rate changes
* @param initialNotify if true, the callback will be run on the initial value
* @return the CallbackStore object associated with this callback
*/
[[nodiscard]]
std::unique_ptr<CallbackStore> RegisterRateCallback(NotifyCallback callback,
bool initialNotify);
/**
* Get the rate of angle change on this gyro.
*
* @return the rate
*/
double GetRate() const;
/**
* Change the rate of the gyro.
*
* @param rate the new rate
*/
void SetRate(double rate);
/**
* Register a callback on whether the gyro is initialized.
*
* @param callback the callback that will be called whenever the gyro is
* initialized
* @param initialNotify if true, the callback will be run on the initial value
* @return the CallbackStore object associated with this callback
*/
[[nodiscard]]
std::unique_ptr<CallbackStore> RegisterInitializedCallback(
NotifyCallback callback, bool initialNotify);
/**
* Check if the gyro is initialized.
*
* @return true if initialized
*/
bool GetInitialized() const;
/**
* Set whether this gyro is initialized.
*
* @param initialized the new value
*/
void SetInitialized(bool initialized);
/**
* Reset all simulation data for this object.
*/
void ResetData();
private:
int m_index;
};
} // namespace sim
} // namespace frc

130
wpilibc/src/main/native/include/frc/simulation/AnalogInputSim.h
View File

@@ -137,136 +137,6 @@ class AnalogInputSim {
*/
void SetVoltage(double voltage);
/**
* Register a callback on whether the accumulator is initialized.
*
* @param callback the callback that will be called whenever the accumulator
* is initialized
* @param initialNotify if true, the callback will be run on the initial value
* @return the CallbackStore object associated with this callback
*/
[[nodiscard]]
std::unique_ptr<CallbackStore> RegisterAccumulatorInitializedCallback(
NotifyCallback callback, bool initialNotify);
/**
* Check if the accumulator has been initialized.
*
* @return true if initialized
*/
bool GetAccumulatorInitialized() const;
/**
* Change whether the accumulator has been initialized.
*
* @param accumulatorInitialized the new value
*/
void SetAccumulatorInitialized(bool accumulatorInitialized);
/**
* Register a callback on the accumulator value.
*
* @param callback the callback that will be called whenever the accumulator
* value is changed
* @param initialNotify if true, the callback will be run on the initial value
* @return the CallbackStore object associated with this callback
*/
[[nodiscard]]
std::unique_ptr<CallbackStore> RegisterAccumulatorValueCallback(
NotifyCallback callback, bool initialNotify);
/**
* Get the accumulator value.
*
* @return the accumulator value
*/
int64_t GetAccumulatorValue() const;
/**
* Change the accumulator value.
*
* @param accumulatorValue the new value
*/
void SetAccumulatorValue(int64_t accumulatorValue);
/**
* Register a callback on the accumulator count.
*
* @param callback the callback that will be called whenever the accumulator
* count is changed
* @param initialNotify if true, the callback will be run on the initial value
* @return the CallbackStore object associated with this callback
*/
[[nodiscard]]
std::unique_ptr<CallbackStore> RegisterAccumulatorCountCallback(
NotifyCallback callback, bool initialNotify);
/**
* Get the accumulator count.
*
* @return the accumulator count.
*/
int64_t GetAccumulatorCount() const;
/**
* Change the accumulator count.
*
* @param accumulatorCount the new count.
*/
void SetAccumulatorCount(int64_t accumulatorCount);
/**
* Register a callback on the accumulator center.
*
* @param callback the callback that will be called whenever the accumulator
* center is changed
* @param initialNotify if true, the callback will be run on the initial value
* @return the CallbackStore object associated with this callback
*/
[[nodiscard]]
std::unique_ptr<CallbackStore> RegisterAccumulatorCenterCallback(
NotifyCallback callback, bool initialNotify);
/**
* Get the accumulator center.
*
* @return the accumulator center
*/
int GetAccumulatorCenter() const;
/**
* Change the accumulator center.
*
* @param accumulatorCenter the new center
*/
void SetAccumulatorCenter(int accumulatorCenter);
/**
* Register a callback on the accumulator deadband.
*
* @param callback the callback that will be called whenever the accumulator
* deadband is changed
* @param initialNotify if true, the callback will be run on the initial value
* @return the CallbackStore object associated with this callback
*/
[[nodiscard]]
std::unique_ptr<CallbackStore> RegisterAccumulatorDeadbandCallback(
NotifyCallback callback, bool initialNotify);
/**
* Get the accumulator deadband.
*
* @return the accumulator deadband
*/
int GetAccumulatorDeadband() const;
/**
* Change the accumulator deadband.
*
* @param accumulatorDeadband the new deadband
*/
void SetAccumulatorDeadband(int accumulatorDeadband);
/**
* Reset all simulation data for this object.
*/