/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2017 FIRST. All Rights Reserved.                        */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

#pragma once

#include <memory>

#include <HAL/Types.h>

#include "GyroBase.h"

namespace frc {

class AnalogInput;

/**
 * Use a rate gyro to return the robots heading relative to a starting position.
 * The Gyro class tracks the robots heading based on the starting position. As
 * the robot rotates the new heading is computed by integrating the rate of
 * rotation returned by the sensor. When the class is instantiated, it does a
 * short calibration routine where it samples the gyro while at rest to
 * determine the default offset. This is subtracted from each sample to
 * determine the heading. This gyro class must be used with a channel that is
 * assigned one of the Analog accumulators from the FPGA. See AnalogInput for
 * the current accumulator assignments.
 *
 * This class is for gyro sensors that connect to an analog input.
 */
class AnalogGyro : public GyroBase {
 public:
  static const int kOversampleBits = 10;
  static const int kAverageBits = 0;
  static constexpr double kSamplesPerSecond = 50.0;
  static constexpr double kCalibrationSampleTime = 5.0;
  static constexpr double kDefaultVoltsPerDegreePerSecond = 0.007;

  explicit AnalogGyro(int channel);
  explicit AnalogGyro(AnalogInput* channel);
  explicit AnalogGyro(std::shared_ptr<AnalogInput> channel);
  AnalogGyro(int channel, int center, double offset);
  AnalogGyro(std::shared_ptr<AnalogInput> channel, int center, double offset);
  virtual ~AnalogGyro();

  double GetAngle() const override;
  double GetRate() const override;
  virtual int GetCenter() const;
  virtual double GetOffset() const;
  void SetSensitivity(double voltsPerDegreePerSecond);
  void SetDeadband(double volts);
  void Reset() override;
  virtual void InitGyro();
  void Calibrate() override;

 protected:
  std::shared_ptr<AnalogInput> m_analog;

 private:
  HAL_GyroHandle m_gyroHandle = HAL_kInvalidHandle;
};

}  // namespace frc