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https://github.com/wpilibsuite/allwpilib
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f64b055499
The [[deprecated]] attribute is a C++14 feature not supported by MSVC or GCC < 4.9, but can be simulated on both of these compilers through the use of alternative (compiler-specific) attribute methods. Change-Id: I34aed5705db2407c592f7cabd5274358c48d34fe
75 lines
2.5 KiB
C++
75 lines
2.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved.
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*/
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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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#pragma once
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#include "SensorBase.h"
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#include "PIDSource.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include <memory>
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class AnalogInput;
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/**
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* Use a rate gyro to return the robots heading relative to a starting position.
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* The Gyro class tracks the robots heading based on the starting position. As
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* the robot
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* rotates the new heading is computed by integrating the rate of rotation
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* returned
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* by the sensor. When the class is instantiated, it does a short calibration
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* routine
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* where it samples the gyro while at rest to determine the default offset. This
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* is
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* subtracted from each sample to determine the heading. This gyro class must be
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* used
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* with a channel that is assigned one of the Analog accumulators from the FPGA.
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* See
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* AnalogInput for the current accumulator assignments.
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*/
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class Gyro : public SensorBase, public PIDSource, public LiveWindowSendable {
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public:
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static const uint32_t kOversampleBits = 10;
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static const uint32_t kAverageBits = 0;
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static constexpr float kSamplesPerSecond = 50.0;
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static constexpr float kCalibrationSampleTime = 5.0;
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static constexpr float kDefaultVoltsPerDegreePerSecond = 0.007;
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explicit Gyro(int32_t channel);
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DEPRECATED(
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"Raw pointers are deprecated; consider calling the Gyro constructor with "
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"a channel number or passing a shared_ptr instead.")
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explicit Gyro(AnalogInput *channel);
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explicit Gyro(std::shared_ptr<AnalogInput> channel);
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virtual ~Gyro() = default;
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virtual float GetAngle() const;
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virtual double GetRate() const;
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void SetSensitivity(float voltsPerDegreePerSecond);
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void SetDeadband(float volts);
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virtual void Reset();
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void InitGyro();
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// PIDSource interface
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double PIDGet() override;
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void UpdateTable() override;
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void StartLiveWindowMode() override;
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void StopLiveWindowMode() override;
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std::string GetSmartDashboardType() const override;
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void InitTable(std::shared_ptr<ITable> subTable) override;
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std::shared_ptr<ITable> GetTable() const override;
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protected:
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std::shared_ptr<AnalogInput> m_analog;
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private:
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float m_voltsPerDegreePerSecond;
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float m_offset;
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uint32_t m_center;
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std::shared_ptr<ITable> m_table = nullptr;
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};
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