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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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48
wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogGyro.java
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@@ -6,7 +6,6 @@ package edu.wpi.first.wpilibj;
import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
import edu.wpi.first.hal.AnalogGyroJNI;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.math.geometry.Rotation2d;
@@ -24,20 +23,11 @@ import edu.wpi.first.util.sendable.SendableRegistry;
* <p>This class is for gyro sensors that connect to an analog input.
*/
public class AnalogGyro implements Sendable, AutoCloseable {
private static final double kDefaultVoltsPerDegreePerSecond = 0.007;
private AnalogInput m_analog;
private boolean m_channelAllocated;
private int m_gyroHandle;
/** Initialize the gyro. Calibration is handled by calibrate(). */
private void initGyro() {
if (m_gyroHandle == 0) {
m_gyroHandle = AnalogGyroJNI.initializeAnalogGyro(m_analog.m_port);
}
AnalogGyroJNI.setupAnalogGyro(m_gyroHandle);
HAL.report(tResourceType.kResourceType_Gyro, m_analog.getChannel() + 1);
SendableRegistry.addLW(this, "AnalogGyro", m_analog.getChannel());
}
@@ -50,9 +40,7 @@ public class AnalogGyro implements Sendable, AutoCloseable {
* are in progress, this is typically done when the robot is first turned on while it's sitting at
* rest before the competition starts.
*/
public void calibrate() {
AnalogGyroJNI.calibrateAnalogGyro(m_gyroHandle);
}
public void calibrate() {}
/**
* Return the heading of the robot as a {@link edu.wpi.first.math.geometry.Rotation2d}.
@@ -126,15 +114,12 @@ public class AnalogGyro implements Sendable, AutoCloseable {
* @param center Preset uncalibrated value to use as the accumulator center value.
* @param offset Preset uncalibrated value to use as the gyro offset.
*/
@SuppressWarnings("this-escape")
@SuppressWarnings({"this-escape", "PMD.UnusedFormalParameter"})
public AnalogGyro(AnalogInput channel, int center, double offset) {
requireNonNullParam(channel, "channel", "AnalogGyro");
m_analog = channel;
initGyro();
AnalogGyroJNI.setAnalogGyroParameters(
m_gyroHandle, kDefaultVoltsPerDegreePerSecond,
offset, center);
reset();
}
@@ -144,9 +129,7 @@ public class AnalogGyro implements Sendable, AutoCloseable {
* <p>Resets the gyro to a heading of zero. This can be used if there is significant drift in the
* gyro, and it needs to be recalibrated after it has been running.
*/
public void reset() {
AnalogGyroJNI.resetAnalogGyro(m_gyroHandle);
}
public void reset() {}
/** Delete (free) the accumulator and the analog components used for the gyro. */
@Override
@@ -156,7 +139,6 @@ public class AnalogGyro implements Sendable, AutoCloseable {
m_analog.close();
}
m_analog = null;
AnalogGyroJNI.freeAnalogGyro(m_gyroHandle);
}
/**
@@ -174,11 +156,7 @@ public class AnalogGyro implements Sendable, AutoCloseable {
* @return the current heading of the robot in degrees.
*/
public double getAngle() {
if (m_analog == null) {
return 0.0;
} else {
return AnalogGyroJNI.getAnalogGyroAngle(m_gyroHandle);
}
return 0.0;
}
/**
@@ -192,11 +170,7 @@ public class AnalogGyro implements Sendable, AutoCloseable {
* @return the current rate in degrees per second
*/
public double getRate() {
if (m_analog == null) {
return 0.0;
} else {
return AnalogGyroJNI.getAnalogGyroRate(m_gyroHandle);
}
return 0.0;
}
/**
@@ -205,7 +179,7 @@ public class AnalogGyro implements Sendable, AutoCloseable {
* @return the current offset value
*/
public double getOffset() {
return AnalogGyroJNI.getAnalogGyroOffset(m_gyroHandle);
return 0.0;
}
/**
@@ -214,7 +188,7 @@ public class AnalogGyro implements Sendable, AutoCloseable {
* @return the current center value
*/
public int getCenter() {
return AnalogGyroJNI.getAnalogGyroCenter(m_gyroHandle);
return 0;
}
/**
@@ -224,9 +198,7 @@ public class AnalogGyro implements Sendable, AutoCloseable {
*
* @param voltsPerDegreePerSecond The sensitivity in Volts/degree/second.
*/
public void setSensitivity(double voltsPerDegreePerSecond) {
AnalogGyroJNI.setAnalogGyroVoltsPerDegreePerSecond(m_gyroHandle, voltsPerDegreePerSecond);
}
public void setSensitivity(double voltsPerDegreePerSecond) {}
/**
* Set the size of the neutral zone. Any voltage from the gyro less than this amount from the
@@ -235,9 +207,7 @@ public class AnalogGyro implements Sendable, AutoCloseable {
*
* @param volts The size of the deadband in volts
*/
public void setDeadband(double volts) {
AnalogGyroJNI.setAnalogGyroDeadband(m_gyroHandle, volts);
}
public void setDeadband(double volts) {}
/**
* Gets the analog input for the gyro.

127
wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogInput.java
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@@ -4,12 +4,10 @@
package edu.wpi.first.wpilibj;
import edu.wpi.first.hal.AccumulatorResult;
import edu.wpi.first.hal.AnalogJNI;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.hal.util.AllocationException;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
@@ -27,11 +25,8 @@ import edu.wpi.first.util.sendable.SendableRegistry;
* number of samples to retain the resolution, but get more stable values.
*/
public class AnalogInput implements Sendable, AutoCloseable {
private static final int kAccumulatorSlot = 1;
int m_port; // explicit no modifier, private and package accessible.
private int m_channel;
private static final int[] kAccumulatorChannels = {0, 1};
private long m_accumulatorOffset;
/**
* Construct an analog channel.
@@ -56,7 +51,6 @@ public class AnalogInput implements Sendable, AutoCloseable {
AnalogJNI.freeAnalogInputPort(m_port);
m_port = 0;
m_channel = 0;
m_accumulatorOffset = 0;
}
/**
@@ -181,127 +175,6 @@ public class AnalogInput implements Sendable, AutoCloseable {
return AnalogJNI.getAnalogOversampleBits(m_port);
}
/** Initialize the accumulator. */
public void initAccumulator() {
if (!isAccumulatorChannel()) {
throw new AllocationException(
"Accumulators are only available on slot "
+ kAccumulatorSlot
+ " on channels "
+ kAccumulatorChannels[0]
+ ", "
+ kAccumulatorChannels[1]);
}
m_accumulatorOffset = 0;
AnalogJNI.initAccumulator(m_port);
}
/**
* Set an initial value for the accumulator.
*
* <p>This will be added to all values returned to the user.
*
* @param initialValue The value that the accumulator should start from when reset.
*/
public void setAccumulatorInitialValue(long initialValue) {
m_accumulatorOffset = initialValue;
}
/** Resets the accumulator to the initial value. */
public void resetAccumulator() {
AnalogJNI.resetAccumulator(m_port);
// Wait until the next sample, so the next call to getAccumulator*()
// won't have old values.
final double sampleTime = 1.0 / getGlobalSampleRate();
final double overSamples = 1 << getOversampleBits();
final double averageSamples = 1 << getAverageBits();
Timer.delay(sampleTime * overSamples * averageSamples);
}
/**
* Set the center value of the accumulator.
*
* <p>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.
*
* <p>This center value is based on the output of the oversampled and averaged source the
* accumulator channel. Because of this, any non-zero oversample bits will affect the size of the
* value for this field.
*
* @param center The accumulator's center value.
*/
public void setAccumulatorCenter(int center) {
AnalogJNI.setAccumulatorCenter(m_port, center);
}
/**
* Set the accumulator's deadband.
*
* @param deadband The deadband size in ADC codes (12-bit value)
*/
public void setAccumulatorDeadband(int deadband) {
AnalogJNI.setAccumulatorDeadband(m_port, deadband);
}
/**
* Read the accumulated value.
*
* <p>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().
*/
public long getAccumulatorValue() {
return AnalogJNI.getAccumulatorValue(m_port) + m_accumulatorOffset;
}
/**
* Read the number of accumulated values.
*
* <p>Read the count of the accumulated values since the accumulator was last Reset().
*
* @return The number of times samples from the channel were accumulated.
*/
public long getAccumulatorCount() {
return AnalogJNI.getAccumulatorCount(m_port);
}
/**
* Read the accumulated value and the number of accumulated values atomically.
*
* <p>This function reads the value and count from the FPGA atomically. This can be used for
* averaging.
*
* @param result AccumulatorResult object to store the results in.
*/
public void getAccumulatorOutput(AccumulatorResult result) {
if (result == null) {
throw new IllegalArgumentException("Null parameter `result'");
}
if (!isAccumulatorChannel()) {
throw new IllegalArgumentException(
"Channel " + m_channel + " is not an accumulator channel.");
}
AnalogJNI.getAccumulatorOutput(m_port, result);
result.value += m_accumulatorOffset;
}
/**
* Is the channel attached to an accumulator.
*
* @return The analog channel is attached to an accumulator.
*/
public boolean isAccumulatorChannel() {
for (int channel : kAccumulatorChannels) {
if (m_channel == channel) {
return true;
}
}
return false;
}
/**
* Set the sample rate per channel.
*

127
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AnalogGyroSim.java
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@@ -1,127 +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.
package edu.wpi.first.wpilibj.simulation;
import edu.wpi.first.hal.simulation.AnalogGyroDataJNI;
import edu.wpi.first.hal.simulation.NotifyCallback;
import edu.wpi.first.wpilibj.AnalogGyro;
/** Class to control a simulated analog gyro. */
public class AnalogGyroSim {
private final int m_index;
/**
* Constructs from an AnalogGyro object.
*
* @param gyro AnalogGyro to simulate
*/
public AnalogGyroSim(AnalogGyro gyro) {
m_index = gyro.getAnalogInput().getChannel();
}
/**
* Constructs from an analog input channel number.
*
* @param channel Channel number
*/
public AnalogGyroSim(int channel) {
m_index = 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 {@link CallbackStore} object associated with this callback.
*/
public CallbackStore registerAngleCallback(NotifyCallback callback, boolean initialNotify) {
int uid = AnalogGyroDataJNI.registerAngleCallback(m_index, callback, initialNotify);
return new CallbackStore(m_index, uid, AnalogGyroDataJNI::cancelAngleCallback);
}
/**
* Get the current angle of the gyro.
*
* @return the angle measured by the gyro
*/
public double getAngle() {
return AnalogGyroDataJNI.getAngle(m_index);
}
/**
* Change the angle measured by the gyro.
*
* @param angle the new value
*/
public void setAngle(double angle) {
AnalogGyroDataJNI.setAngle(m_index, 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 {@link CallbackStore} object associated with this callback.
*/
public CallbackStore registerRateCallback(NotifyCallback callback, boolean initialNotify) {
int uid = AnalogGyroDataJNI.registerRateCallback(m_index, callback, initialNotify);
return new CallbackStore(m_index, uid, AnalogGyroDataJNI::cancelRateCallback);
}
/**
* Get the rate of angle change on this gyro.
*
* @return the rate
*/
public double getRate() {
return AnalogGyroDataJNI.getRate(m_index);
}
/**
* Change the rate of the gyro.
*
* @param rate the new rate
*/
public void setRate(double rate) {
AnalogGyroDataJNI.setRate(m_index, 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 {@link CallbackStore} object associated with this callback.
*/
public CallbackStore registerInitializedCallback(NotifyCallback callback, boolean initialNotify) {
int uid = AnalogGyroDataJNI.registerInitializedCallback(m_index, callback, initialNotify);
return new CallbackStore(m_index, uid, AnalogGyroDataJNI::cancelInitializedCallback);
}
/**
* Check if the gyro is initialized.
*
* @return true if initialized
*/
public boolean getInitialized() {
return AnalogGyroDataJNI.getInitialized(m_index);
}
/**
* Set whether this gyro is initialized.
*
* @param initialized the new value
*/
public void setInitialized(boolean initialized) {
AnalogGyroDataJNI.setInitialized(m_index, initialized);
}
/** Reset all simulation data for this object. */
public void resetData() {
AnalogGyroDataJNI.resetData(m_index);
}
}

156
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AnalogInputSim.java
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@@ -151,162 +151,6 @@ public class AnalogInputSim {
AnalogInDataJNI.setVoltage(m_index, 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 {@link CallbackStore} object associated with this callback.
*/
public CallbackStore registerAccumulatorInitializedCallback(
NotifyCallback callback, boolean initialNotify) {
int uid =
AnalogInDataJNI.registerAccumulatorInitializedCallback(m_index, callback, initialNotify);
return new CallbackStore(m_index, uid, AnalogInDataJNI::cancelAccumulatorInitializedCallback);
}
/**
* Check if the accumulator has been initialized.
*
* @return true if initialized
*/
public boolean getAccumulatorInitialized() {
return AnalogInDataJNI.getAccumulatorInitialized(m_index);
}
/**
* Change whether the accumulator has been initialized.
*
* @param accumulatorInitialized the new value
*/
public void setAccumulatorInitialized(boolean accumulatorInitialized) {
AnalogInDataJNI.setAccumulatorInitialized(m_index, 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 {@link CallbackStore} object associated with this callback.
*/
public CallbackStore registerAccumulatorValueCallback(
NotifyCallback callback, boolean initialNotify) {
int uid = AnalogInDataJNI.registerAccumulatorValueCallback(m_index, callback, initialNotify);
return new CallbackStore(m_index, uid, AnalogInDataJNI::cancelAccumulatorValueCallback);
}
/**
* Get the accumulator value.
*
* @return the accumulator value
*/
public long getAccumulatorValue() {
return AnalogInDataJNI.getAccumulatorValue(m_index);
}
/**
* Change the accumulator value.
*
* @param accumulatorValue the new value
*/
public void setAccumulatorValue(long accumulatorValue) {
AnalogInDataJNI.setAccumulatorValue(m_index, 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 {@link CallbackStore} object associated with this callback.
*/
public CallbackStore registerAccumulatorCountCallback(
NotifyCallback callback, boolean initialNotify) {
int uid = AnalogInDataJNI.registerAccumulatorCountCallback(m_index, callback, initialNotify);
return new CallbackStore(m_index, uid, AnalogInDataJNI::cancelAccumulatorCountCallback);
}
/**
* Get the accumulator count.
*
* @return the accumulator count.
*/
public long getAccumulatorCount() {
return AnalogInDataJNI.getAccumulatorCount(m_index);
}
/**
* Change the accumulator count.
*
* @param accumulatorCount the new count.
*/
public void setAccumulatorCount(long accumulatorCount) {
AnalogInDataJNI.setAccumulatorCount(m_index, 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 {@link CallbackStore} object associated with this callback.
*/
public CallbackStore registerAccumulatorCenterCallback(
NotifyCallback callback, boolean initialNotify) {
int uid = AnalogInDataJNI.registerAccumulatorCenterCallback(m_index, callback, initialNotify);
return new CallbackStore(m_index, uid, AnalogInDataJNI::cancelAccumulatorCenterCallback);
}
/**
* Get the accumulator center.
*
* @return the accumulator center
*/
public int getAccumulatorCenter() {
return AnalogInDataJNI.getAccumulatorCenter(m_index);
}
/**
* Change the accumulator center.
*
* @param accumulatorCenter the new center
*/
public void setAccumulatorCenter(int accumulatorCenter) {
AnalogInDataJNI.setAccumulatorCenter(m_index, 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 {@link CallbackStore} object associated with this callback.
*/
public CallbackStore registerAccumulatorDeadbandCallback(
NotifyCallback callback, boolean initialNotify) {
int uid = AnalogInDataJNI.registerAccumulatorDeadbandCallback(m_index, callback, initialNotify);
return new CallbackStore(m_index, uid, AnalogInDataJNI::cancelAccumulatorDeadbandCallback);
}
/**
* Get the accumulator deadband.
*
* @return the accumulator deadband
*/
public int getAccumulatorDeadband() {
return AnalogInDataJNI.getAccumulatorDeadband(m_index);
}
/**
* Change the accumulator deadband.
*
* @param accumulatorDeadband the new deadband
*/
public void setAccumulatorDeadband(int accumulatorDeadband) {
AnalogInDataJNI.setAccumulatorDeadband(m_index, accumulatorDeadband);
}
/** Reset all simulation data for this object. */
public void resetData() {
AnalogInDataJNI.resetData(m_index);