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https://github.com/wpilibsuite/allwpilib
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52 lines
1.8 KiB
C++
52 lines
1.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "GyroBase.h"
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#include "simulation/SimGyro.h"
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#include <memory>
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class AnalogInput;
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class AnalogModule;
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/**
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* Use a rate gyro to return the robots heading relative to a starting position.
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*
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* The AnalogGyro class tracks the robots heading based on the starting
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* position. As the robot rotates the new heading is computed by integrating
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* the rate of rotation returned by the sensor. When the class is instantiated,
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* it does a short calibration routine where it samples the gyro while at rest
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* to determine the default offset. This is subtracted from each sample to
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* determine the heading. This gyro class must be used with a channel that is
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* assigned one of the Analog accumulators from the FPGA. See AnalogInput for
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* the current accumulator assignments.
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*/
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class AnalogGyro : public GyroBase {
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public:
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static const uint32_t kOversampleBits;
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static const uint32_t kAverageBits;
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static const float kSamplesPerSecond;
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static const float kCalibrationSampleTime;
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static const float kDefaultVoltsPerDegreePerSecond;
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explicit AnalogGyro(uint32_t channel);
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virtual ~AnalogGyro() = default;
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float GetAngle() const;
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void Calibrate() override;
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double GetRate() const;
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void Reset();
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private:
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void InitAnalogGyro(int channel);
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SimGyro* impl;
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std::shared_ptr<ITable> m_table;
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};
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