mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-22 01:11:42 +00:00
61 lines
2.2 KiB
C++
61 lines
2.2 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"
|
|
#include "simulation/SimGyro.h"
|
|
|
|
#include <memory>
|
|
|
|
class AnalogInput;
|
|
class AnalogModule;
|
|
|
|
/**
|
|
* 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(uint32_t channel);
|
|
virtual ~Gyro() = default;
|
|
virtual float GetAngle() const;
|
|
virtual double GetRate() const;
|
|
virtual void Reset();
|
|
|
|
// PIDSource interface
|
|
void SetPIDSourceType(PIDSourceType pidSource) override;
|
|
double PIDGet() const override;
|
|
|
|
void UpdateTable() override;
|
|
void StartLiveWindowMode() override;
|
|
void StopLiveWindowMode() override;
|
|
std::string GetSmartDashboardType() const override;
|
|
void InitTable(std::shared_ptr<ITable> subTable) override;
|
|
std::shared_ptr<ITable> GetTable() const override;
|
|
|
|
private:
|
|
void InitGyro(int channel);
|
|
|
|
SimGyro* impl;
|
|
|
|
std::shared_ptr<ITable> m_table = nullptr;
|
|
};
|