mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
22c0e2813a
MacOS no longer ships 6.0, and Arch Linux's mesa GPU drivers are no longer compatible with LLVM 6.0.
31 lines
1010 B
C++
31 lines
1010 B
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2020 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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#include "frc/GyroBase.h"
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#include "frc/WPIErrors.h"
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#include "frc/smartdashboard/SendableBuilder.h"
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using namespace frc;
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double GyroBase::PIDGet() {
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switch (GetPIDSourceType()) {
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case PIDSourceType::kRate:
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return GetRate();
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case PIDSourceType::kDisplacement:
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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 GyroBase::InitSendable(SendableBuilder& builder) {
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builder.SetSmartDashboardType("Gyro");
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builder.AddDoubleProperty(
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"Value", [=]() { return GetAngle(); }, nullptr);
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}
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