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https://github.com/wpilibsuite/allwpilib
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8ae64a12ea
Pneumatics still have CAN modules. The refactored code is now eight plugins for sensors and actuators. There is some code reuse that should be refactored out, but that level of abstraction will wait until we figure out how these plugins are integrating with gazebo proper. Change-Id: I357e695ef05af6dda83a39ba60380686bd57d11a Closes: artf2610, artf2623
144 lines
3.5 KiB
C++
144 lines
3.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#include "Gyro.h"
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#include "Timer.h"
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#include "WPIErrors.h"
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#include "LiveWindow/LiveWindow.h"
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const uint32_t Gyro::kOversampleBits;
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const uint32_t Gyro::kAverageBits;
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constexpr float Gyro::kSamplesPerSecond;
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constexpr float Gyro::kCalibrationSampleTime;
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constexpr float Gyro::kDefaultVoltsPerDegreePerSecond;
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/**
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* Initialize the gyro.
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* Calibrate the gyro by running for a number of samples and computing the center value for this
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* part. Then use the center value as the Accumulator center value for subsequent measurements.
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* It's important to make sure that the robot is not moving while the centering calculations are
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* in progress, this is typically done when the robot is first turned on while it's sitting at
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* rest before the competition starts.
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*/
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void Gyro::InitGyro(int channel)
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{
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m_table = NULL;
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SetPIDSourceParameter(kAngle);
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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("Gyro", channel, this);
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}
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/**
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* Gyro 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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Gyro::Gyro(uint32_t channel)
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{
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InitGyro(channel);
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}
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/**
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* Reset the gyro.
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* Resets the gyro to a heading of zero. This can be used if there is significant
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* drift in the gyro and it needs to be recalibrated after it has been running.
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*/
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void Gyro::Reset()
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{
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impl->Reset();
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}
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/**
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* Delete (free) the accumulator and the analog components used for the gyro.
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*/
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Gyro::~Gyro()
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{
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}
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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 oversampling rate, the
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* gyro type and the A/D calibration values.
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* The angle is continuous, that is can go beyond 360 degrees. This make algorithms that wouldn't
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* want to see a discontinuity in the gyro output as it sweeps past 0 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 integration
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* of the returned rate from the gyro.
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*/
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float Gyro::GetAngle( void )
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{
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return impl->GetAngle();
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}
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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 Gyro::GetRate( void )
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{
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return impl->GetVelocity();
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}
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void Gyro::SetPIDSourceParameter(PIDSourceParameter pidSource)
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{
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if(pidSource == 0 || pidSource > 2)
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wpi_setWPIErrorWithContext(ParameterOutOfRange, "Gyro pidSource");
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m_pidSource = pidSource;
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}
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/**
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* Get the angle in degrees for the PIDSource base object.
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*
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* @return The angle in degrees.
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*/
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double Gyro::PIDGet()
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{
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switch(m_pidSource){
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case kRate:
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return GetRate();
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case kAngle:
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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 Gyro::UpdateTable() {
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if (m_table != NULL) {
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m_table->PutNumber("Value", GetAngle());
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}
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}
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void Gyro::StartLiveWindowMode() {
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}
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void Gyro::StopLiveWindowMode() {
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}
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std::string Gyro::GetSmartDashboardType() {
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return "Gyro";
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}
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void Gyro::InitTable(ITable *subTable) {
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m_table = subTable;
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UpdateTable();
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}
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ITable * Gyro::GetTable() {
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return m_table;
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}
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