mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
63878d8ab7
Fixed API in the following classes: - RobotDrive - AnalogGyro moved some files from Athena the shared that are independant of platform Renamed Gyro to AnalogGyro added smart pointer constructors to RobotDrive Change-Id: If8a1bde5aed77fd60869d1993c302dd519bc8848
51 lines
1.8 KiB
C++
51 lines
1.8 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2008-2016. 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 "GyroBase.h"
|
|
#include "simulation/SimGyro.h"
|
|
|
|
#include <memory>
|
|
|
|
class AnalogInput;
|
|
class AnalogModule;
|
|
|
|
/**
|
|
* Use a rate gyro to return the robots heading relative to a starting position.
|
|
* The AnalogGyro 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.
|
|
*/
|
|
class AnalogGyro : public GyroBase
|
|
{
|
|
public:
|
|
static const uint32_t kOversampleBits;
|
|
static const uint32_t kAverageBits;
|
|
static const float kSamplesPerSecond;
|
|
static const float kCalibrationSampleTime;
|
|
static const float kDefaultVoltsPerDegreePerSecond;
|
|
|
|
explicit AnalogGyro(uint32_t channel);
|
|
virtual ~AnalogGyro() = default;
|
|
float GetAngle() const;
|
|
void Calibrate() override;
|
|
double GetRate() const;
|
|
void Reset();
|
|
|
|
private:
|
|
void InitAnalogGyro(int channel);
|
|
|
|
SimGyro* impl;
|
|
|
|
std::shared_ptr<ITable> m_table;
|
|
};
|