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69422dc063
This makes our APIs more consistent. With optimizations enabled, doubles are just as efficient as floats on ARMv7, so we should take advantage of the extra precision.
48 lines
1.5 KiB
C++
48 lines
1.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2015-2016. 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 <memory>
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#include "GyroBase.h"
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#include "HAL/cpp/priority_mutex.h"
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#include "Notifier.h"
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#include "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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* 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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*/
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class ADXRS450_Gyro : public GyroBase {
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public:
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ADXRS450_Gyro();
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explicit ADXRS450_Gyro(SPI::Port port);
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virtual ~ADXRS450_Gyro() = default;
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double GetAngle() const override;
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double GetRate() const override;
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void Reset() override;
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void Calibrate() override;
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private:
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SPI m_spi;
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uint16_t ReadRegister(int reg);
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};
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} // namespace frc
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