mirror of
https://github.com/wpilibsuite/allwpilib
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5a82f73d9b
This was not done to stdint.h for brevity in type names. Also removed "using namespace std;".
82 lines
2.9 KiB
C++
82 lines
2.9 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 "AnalogGyro.h"
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#include <cstdio>
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#include "LiveWindow/LiveWindow.h"
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#include "Timer.h"
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#include "WPIErrors.h"
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const uint32_t AnalogGyro::kOversampleBits = 10;
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const uint32_t AnalogGyro::kAverageBits = 0;
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const float AnalogGyro::kSamplesPerSecond = 50.0;
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const float AnalogGyro::kCalibrationSampleTime = 5.0;
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const float AnalogGyro::kDefaultVoltsPerDegreePerSecond = 0.007;
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/**
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* Initialize the gyro.
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*
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* Calibrate the gyro by running for a number of samples and computing the
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* center value for this part. Then use the center value as the Accumulator
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* center value for subsequent measurements. It's important to make sure that
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* the robot is not moving while the centering calculations are in progress,
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* this is typically done when the robot is first turned on while it's sitting
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* at rest before the competition starts.
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*/
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void AnalogGyro::InitAnalogGyro(int channel) {
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SetPIDSourceType(PIDSourceType::kDisplacement);
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char buffer[50];
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int n = sprintf(buffer, "analog/%d", channel);
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impl = new SimGyro(buffer);
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LiveWindow::GetInstance()->AddSensor("AnalogGyro", channel, this);
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}
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/**
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* AnalogGyro constructor with only a channel.
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*
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* @param channel The analog channel the gyro is connected to.
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*/
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AnalogGyro::AnalogGyro(uint32_t channel) { InitAnalogGyro(channel); }
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/**
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* Reset the gyro.
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*
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* Resets the gyro to a heading of zero. This can be used if there is
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* significant drift in the gyro and it needs to be recalibrated after it has
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* been running.
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*/
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void AnalogGyro::Reset() { impl->Reset(); }
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void AnalogGyro::Calibrate() { Reset(); }
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/**
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* Return the actual angle in degrees that the robot is currently facing.
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*
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* The angle is based on the current accumulator value corrected by the
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* oversampling rate, the gyro type and the A/D calibration values. The angle
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* is continuous, that is can go beyond 360 degrees. This make algorithms that
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* wouldn't want to see a discontinuity in the gyro output as it sweeps past 0
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* on the second time around.
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*
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* @return the current heading of the robot in degrees. This heading is based on
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* integration of the returned rate from the gyro.
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*/
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float AnalogGyro::GetAngle() const { return impl->GetAngle(); }
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/**
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* Return the rate of rotation of the gyro
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*
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* The rate is based on the most recent reading of the gyro analog value
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*
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* @return the current rate in degrees per second
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*/
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double AnalogGyro::GetRate() const { return impl->GetVelocity(); }
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