mirror of
https://github.com/wpilibsuite/allwpilib
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50 lines
1.4 KiB
C++
50 lines
1.4 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2017 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 "GyroBase.h"
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#include "LiveWindow/LiveWindow.h"
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#include "WPIErrors.h"
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using namespace frc;
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/**
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* Get the PIDOutput for the PIDSource base object. Can be set to return
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* angle or rate using SetPIDSourceType(). Defaults to angle.
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*
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* @return The PIDOutput (angle or rate, defaults to angle)
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*/
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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::UpdateTable() {
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if (m_valueEntry) m_valueEntry.SetDouble(GetAngle());
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}
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void GyroBase::StartLiveWindowMode() {}
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void GyroBase::StopLiveWindowMode() {}
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std::string GyroBase::GetSmartDashboardType() const { return "Gyro"; }
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void GyroBase::InitTable(std::shared_ptr<nt::NetworkTable> subTable) {
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if (subTable) {
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m_valueEntry = subTable->GetEntry("Value");
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UpdateTable();
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} else {
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m_valueEntry = nt::NetworkTableEntry();
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}
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}
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