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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.
56 lines
1.8 KiB
C++
56 lines
1.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. 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 "simulation/SimGyro.h"
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namespace frc {
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class AnalogInput;
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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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*
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* The AnalogGyro class tracks the robots heading based on the starting
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* position. As the robot rotates the new heading is computed by integrating
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* the rate of rotation returned by the sensor. When the class is instantiated,
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* it does a short calibration routine where it samples the gyro while at rest
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* to determine the default offset. This is subtracted from each sample to
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* determine the heading. This gyro class must be used with a channel that is
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* assigned one of the Analog accumulators from the FPGA. See AnalogInput for
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* the current accumulator assignments.
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*/
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class AnalogGyro : public GyroBase {
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public:
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static const int kOversampleBits;
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static const int kAverageBits;
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static const double kSamplesPerSecond;
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static const double kCalibrationSampleTime;
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static const double kDefaultVoltsPerDegreePerSecond;
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explicit AnalogGyro(int channel);
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virtual ~AnalogGyro() = default;
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double GetAngle() const;
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void Calibrate() override;
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double GetRate() const;
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void Reset();
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private:
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void InitAnalogGyro(int channel);
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SimGyro* impl;
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std::shared_ptr<ITable> m_table;
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};
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} // namespace frc
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