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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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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