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https://github.com/wpilibsuite/allwpilib
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108 lines
3.4 KiB
C++
108 lines
3.4 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2015-2020 FIRST. 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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#include <stdint.h>
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#include <hal/SimDevice.h>
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#include "frc/GyroBase.h"
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#include "frc/SPI.h"
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namespace frc {
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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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*
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* The Gyro class tracks the robots heading based on the starting position. As
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* the robot rotates the new heading is computed by integrating the rate of
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* rotation returned by the sensor. When the class is instantiated, it does a
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* short calibration routine where it samples the gyro while at rest to
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* determine the default offset. This is subtracted from each sample to
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* determine the heading.
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*
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* This class is for the digital ADXRS450 gyro sensor that connects via SPI.
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* Only one instance of an ADXRS Gyro is supported.
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*/
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class ADXRS450_Gyro : public GyroBase {
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public:
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/**
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* Gyro constructor on onboard CS0.
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*/
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ADXRS450_Gyro();
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/**
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* Gyro constructor on the specified SPI port.
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*
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* @param port The SPI port the gyro is attached to.
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*/
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explicit ADXRS450_Gyro(SPI::Port port);
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~ADXRS450_Gyro() override = default;
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ADXRS450_Gyro(ADXRS450_Gyro&&) = default;
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ADXRS450_Gyro& operator=(ADXRS450_Gyro&&) = default;
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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.
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* The angle is continuous, that is it will continue from 360->361 degrees.
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* This allows algorithms that wouldn't want to see a discontinuity in the
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* gyro output as it sweeps 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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double GetAngle() const override;
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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 GetRate() const override;
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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 Reset() override;
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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. Then use the center value as the Accumulator center value for
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* subsequent measurements.
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*
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* It's important to make sure that the robot is not moving while the
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* centering calculations are in progress, this is typically done when the
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* robot is first turned on while it's sitting at rest before the competition
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* starts.
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*/
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void Calibrate() override;
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private:
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SPI m_spi;
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hal::SimDevice m_simDevice;
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hal::SimDouble m_simAngle;
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hal::SimDouble m_simRate;
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uint16_t ReadRegister(int reg);
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};
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} // namespace frc
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