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59267da72b
Base.h provides a backwards compatibility shim (enabled unless NAMESPACED_WPILIB is defined) that does a "using namespace frc". However, as some header files do not include Base.h, this may be a breaking change in some corner cases (with an easy fix). Fixes #218.
50 lines
1.4 KiB
C++
50 lines
1.4 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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#include "GyroBase.h"
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#include "LiveWindow/LiveWindow.h"
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#include "WPIErrors.h"
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using namespace frc;
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/**
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* Get the PIDOutput for the PIDSource base object. Can be set to return
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* angle or rate using SetPIDSourceType(). Defaults to angle.
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*
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* @return The PIDOutput (angle or rate, defaults to angle)
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*/
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double GyroBase::PIDGet() {
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switch (GetPIDSourceType()) {
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case PIDSourceType::kRate:
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return GetRate();
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case PIDSourceType::kDisplacement:
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return GetAngle();
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default:
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return 0;
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}
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}
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void GyroBase::UpdateTable() {
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if (m_table != nullptr) {
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m_table->PutNumber("Value", GetAngle());
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}
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}
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void GyroBase::StartLiveWindowMode() {}
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void GyroBase::StopLiveWindowMode() {}
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std::string GyroBase::GetSmartDashboardType() const { return "Gyro"; }
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void GyroBase::InitTable(std::shared_ptr<ITable> subTable) {
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m_table = subTable;
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UpdateTable();
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}
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std::shared_ptr<ITable> GyroBase::GetTable() const { return m_table; }
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