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22c4da152e
The angular rate is treated somewhat like an angle during calibration, but the datasheet says it's angular rate. The variables were renamed to make this clearer.
60 lines
1.9 KiB
C++
60 lines
1.9 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "frc/simulation/ADIS16470_IMUSim.h"
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#include <frc/ADIS16470_IMU.h>
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#include <frc/simulation/SimDeviceSim.h>
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using namespace frc::sim;
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ADIS16470_IMUSim::ADIS16470_IMUSim(const frc::ADIS16470_IMU& imu) {
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frc::sim::SimDeviceSim deviceSim{"Gyro:ADIS16470", imu.GetPort()};
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m_simGyroAngleX = deviceSim.GetDouble("gyro_angle_x");
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m_simGyroAngleY = deviceSim.GetDouble("gyro_angle_y");
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m_simGyroAngleZ = deviceSim.GetDouble("gyro_angle_z");
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m_simGyroRateX = deviceSim.GetDouble("gyro_rate_x");
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m_simGyroRateY = deviceSim.GetDouble("gyro_rate_y");
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m_simGyroRateZ = deviceSim.GetDouble("gyro_rate_z");
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m_simAccelX = deviceSim.GetDouble("accel_x");
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m_simAccelY = deviceSim.GetDouble("accel_y");
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m_simAccelZ = deviceSim.GetDouble("accel_z");
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}
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void ADIS16470_IMUSim::SetGyroAngleX(units::degree_t angle) {
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m_simGyroAngleX.Set(angle.value());
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}
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void ADIS16470_IMUSim::SetGyroAngleY(units::degree_t angle) {
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m_simGyroAngleY.Set(angle.value());
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}
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void ADIS16470_IMUSim::SetGyroAngleZ(units::degree_t angle) {
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m_simGyroAngleZ.Set(angle.value());
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}
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void ADIS16470_IMUSim::SetGyroRateX(units::degrees_per_second_t angularRate) {
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m_simGyroRateX.Set(angularRate.value());
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}
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void ADIS16470_IMUSim::SetGyroRateY(units::degrees_per_second_t angularRate) {
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m_simGyroRateY.Set(angularRate.value());
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}
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void ADIS16470_IMUSim::SetGyroRateZ(units::degrees_per_second_t angularRate) {
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m_simGyroRateZ.Set(angularRate.value());
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}
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void ADIS16470_IMUSim::SetAccelX(units::meters_per_second_squared_t accel) {
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m_simAccelX.Set(accel.value());
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}
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void ADIS16470_IMUSim::SetAccelY(units::meters_per_second_squared_t accel) {
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m_simAccelY.Set(accel.value());
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}
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void ADIS16470_IMUSim::SetAccelZ(units::meters_per_second_squared_t accel) {
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m_simAccelZ.Set(accel.value());
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}
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