mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
7eb8550bdb
The changes made in this commit do not affect any actual code,
they are purely aesthetic. I ran clang-format with google style
over all .h/.cpp files in wpilibc that weren't in wpilibC++Sim
or gtest, and the eclipse formatter over all of the Java files
using the Google eclipse formatting configuration.
Change-Id: I9627bca0bc103c398ecc1c5ba17467193291ae63
73 lines
2.4 KiB
C++
73 lines
2.4 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
|
|
/*----------------------------------------------------------------------------*/
|
|
#pragma once
|
|
|
|
#include "SensorBase.h"
|
|
#include "PIDSource.h"
|
|
#include "LiveWindow/LiveWindowSendable.h"
|
|
|
|
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.
|
|
*/
|
|
class Gyro : public SensorBase, public PIDSource, public LiveWindowSendable {
|
|
public:
|
|
static const uint32_t kOversampleBits = 10;
|
|
static const uint32_t kAverageBits = 0;
|
|
static constexpr float kSamplesPerSecond = 50.0;
|
|
static constexpr float kCalibrationSampleTime = 5.0;
|
|
static constexpr float kDefaultVoltsPerDegreePerSecond = 0.007;
|
|
|
|
explicit Gyro(int32_t channel);
|
|
explicit Gyro(AnalogInput *channel);
|
|
explicit Gyro(AnalogInput &channel);
|
|
virtual ~Gyro();
|
|
virtual float GetAngle() const;
|
|
virtual double GetRate() const;
|
|
void SetSensitivity(float voltsPerDegreePerSecond);
|
|
void SetDeadband(float volts);
|
|
void SetPIDSourceParameter(PIDSourceParameter pidSource);
|
|
virtual void Reset();
|
|
void InitGyro();
|
|
|
|
// PIDSource interface
|
|
double PIDGet() const override;
|
|
|
|
void UpdateTable() override;
|
|
void StartLiveWindowMode() override;
|
|
void StopLiveWindowMode() override;
|
|
std::string GetSmartDashboardType() const override;
|
|
void InitTable(ITable *subTable) override;
|
|
ITable *GetTable() const override;
|
|
|
|
protected:
|
|
AnalogInput *m_analog;
|
|
|
|
private:
|
|
float m_voltsPerDegreePerSecond;
|
|
float m_offset;
|
|
bool m_channelAllocated;
|
|
uint32_t m_center;
|
|
PIDSourceParameter m_pidSource;
|
|
|
|
ITable *m_table;
|
|
};
|