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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.
61 lines
2.2 KiB
C++
61 lines
2.2 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014-2016. 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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namespace frc {
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/**
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* Interface for yaw rate gyros
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*/
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class Gyro {
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public:
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virtual ~Gyro() = default;
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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. Then use the center value as the Accumulator center value for
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* subsequent measurements. It's important to make sure that the robot is not
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* moving while the centering calculations are in progress, this is typically
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* done when the robot is first turned on while it's sitting at rest before
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* the competition starts.
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*/
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virtual void Calibrate() = 0;
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/**
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* Reset the gyro. Resets the gyro to a heading of zero. This can be used if
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* there is significant drift in the gyro and it needs to be recalibrated
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* after it has been running.
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*/
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virtual void Reset() = 0;
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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 it will continue from 360 to 361 degrees. This
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* allows algorithms that wouldn't want to see a discontinuity in the gyro
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* output as it sweeps past from 360 to 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
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* on integration of the returned rate from the gyro.
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*/
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virtual double GetAngle() const = 0;
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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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virtual double GetRate() const = 0;
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};
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} // namespace frc
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