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69422dc063
This makes our APIs more consistent. With optimizations enabled, doubles are just as efficient as floats on ARMv7, so we should take advantage of the extra precision.
65 lines
2.3 KiB
C++
65 lines
2.3 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 <memory>
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#include "GyroBase.h"
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#include "HAL/Types.h"
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namespace frc {
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class AnalogInput;
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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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* The Gyro class tracks the robots heading based on the starting position. As
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* the robot rotates the new heading is computed by integrating the rate of
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* rotation returned by the sensor. When the class is instantiated, it does a
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* short calibration routine where it samples the gyro while at rest to
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* 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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* This class is for gyro sensors that connect to an analog input.
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*/
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class AnalogGyro : public GyroBase {
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public:
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static const int kOversampleBits = 10;
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static const int kAverageBits = 0;
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static constexpr double kSamplesPerSecond = 50.0;
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static constexpr double kCalibrationSampleTime = 5.0;
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static constexpr double kDefaultVoltsPerDegreePerSecond = 0.007;
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explicit AnalogGyro(int channel);
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explicit AnalogGyro(AnalogInput* channel);
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explicit AnalogGyro(std::shared_ptr<AnalogInput> channel);
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AnalogGyro(int channel, int center, double offset);
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AnalogGyro(std::shared_ptr<AnalogInput> channel, int center, double offset);
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virtual ~AnalogGyro();
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double GetAngle() const override;
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double GetRate() const override;
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virtual int GetCenter() const;
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virtual double GetOffset() const;
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void SetSensitivity(double voltsPerDegreePerSecond);
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void SetDeadband(double volts);
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void Reset() override;
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virtual void InitGyro();
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void Calibrate() override;
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protected:
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std::shared_ptr<AnalogInput> m_analog;
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private:
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HAL_GyroHandle m_gyroHandle = HAL_kInvalidHandle;
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};
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} // namespace frc
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