mirror of
https://github.com/wpilibsuite/allwpilib
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bb50f4b134
Made a toplevel directory for C++ and C++ tests Change-Id: I4bc2074a7036ec7fe79568b411637a5bee9eb5b3 Added the C++ testing framework and one test Change-Id: I1e80a1e16b251a49666820a9d4c8caa025da9785
67 lines
2.3 KiB
C++
67 lines
2.3 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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#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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class AnalogChannel;
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class AnalogModule;
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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 the robot
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* rotates the new heading is computed by integrating the rate of rotation returned
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* by the sensor. When the class is instantiated, it does a short calibration routine
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* where it samples the gyro while at rest to determine the default offset. This is
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* subtracted from each sample to determine the heading. This gyro class must be used
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* with a channel that is assigned one of the Analog accumulators from the FPGA. See
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* AnalogChannel 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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{
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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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Gyro(uint8_t moduleNumber, uint32_t channel);
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explicit Gyro(uint32_t channel);
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explicit Gyro(AnalogChannel *channel);
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explicit Gyro(AnalogChannel &channel);
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virtual ~Gyro();
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virtual float GetAngle();
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virtual double GetRate();
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void SetSensitivity(float voltsPerDegreePerSecond);
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void SetPIDSourceParameter(PIDSourceParameter pidSource);
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virtual void Reset();
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// PIDSource interface
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double PIDGet();
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void UpdateTable();
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void StartLiveWindowMode();
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void StopLiveWindowMode();
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std::string GetSmartDashboardType();
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void InitTable(ITable *subTable);
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ITable * GetTable();
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private:
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void InitGyro();
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AnalogChannel *m_analog;
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float m_voltsPerDegreePerSecond;
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float m_offset;
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bool m_channelAllocated;
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uint32_t m_center;
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PIDSourceParameter m_pidSource;
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ITable *m_table;
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};
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