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496e7c1bba
Adds a close function pointer template parameter to hal::Handle. This allows default destructors in many places. The status parameter has been removed from close functions; in most places it was not used. Where it was, an error is printed instead.
228 lines
7.6 KiB
C++
228 lines
7.6 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <memory>
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#include <hal/AnalogGyro.h>
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#include <hal/Types.h>
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#include <wpi/sendable/Sendable.h>
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#include <wpi/sendable/SendableHelper.h>
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#include "frc/geometry/Rotation2d.h"
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namespace frc {
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class AnalogInput;
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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. 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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* This class is for gyro sensors that connect to an analog input.
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*/
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class AnalogGyro : public wpi::Sendable,
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public wpi::SendableHelper<AnalogGyro> {
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public:
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static constexpr int kOversampleBits = 10;
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static constexpr int kAverageBits = 0;
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static constexpr double kSamplesPerSecond = 50.0;
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static constexpr double kCalibrationSampleTime = 5.0;
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static constexpr double kDefaultVoltsPerDegreePerSecond = 0.007;
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/**
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* %Gyro constructor using the Analog Input channel number.
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*
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* @param channel The analog channel the gyro is connected to. Gyros can only
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* be used on on-board Analog Inputs 0-1.
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*/
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explicit AnalogGyro(int channel);
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/**
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* Gyro constructor with a precreated AnalogInput object.
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*
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* Use this constructor when the analog channel needs to be shared.
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* This object will not clean up the AnalogInput object when using this
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* constructor.
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*
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* Gyros can only be used on on-board channels 0-1.
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*
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* @param channel A pointer to the AnalogInput object that the gyro is
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* connected to.
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*/
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explicit AnalogGyro(AnalogInput* channel);
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/**
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* %Gyro constructor with a precreated AnalogInput object.
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*
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* Use this constructor when the analog channel needs to be shared.
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* This object will not clean up the AnalogInput object when using this
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* constructor.
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*
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* @param channel A pointer to the AnalogInput object that the gyro is
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* connected to.
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*/
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explicit AnalogGyro(std::shared_ptr<AnalogInput> channel);
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/**
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* %Gyro constructor using the Analog Input channel number with parameters for
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* presetting the center and offset values. Bypasses calibration.
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*
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* @param channel The analog channel the gyro is connected to. Gyros can only
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* be used on on-board Analog Inputs 0-1.
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* @param center Preset uncalibrated value to use as the accumulator center
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* value.
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* @param offset Preset uncalibrated value to use as the gyro offset.
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*/
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AnalogGyro(int channel, int center, double offset);
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/**
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* %Gyro constructor with a precreated AnalogInput object and calibrated
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* parameters.
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*
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* Use this constructor when the analog channel needs to be shared.
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* This object will not clean up the AnalogInput object when using this
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* constructor.
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*
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* @param channel A pointer to the AnalogInput object that the gyro is
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* connected to.
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* @param center Preset uncalibrated value to use as the accumulator center
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* value.
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* @param offset Preset uncalibrated value to use as the gyro offset.
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*/
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AnalogGyro(std::shared_ptr<AnalogInput> channel, int center, double offset);
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AnalogGyro(AnalogGyro&& rhs) = default;
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AnalogGyro& operator=(AnalogGyro&& rhs) = default;
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~AnalogGyro() override = default;
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/**
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* Return the actual angle in degrees that the robot is currently facing.
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*
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* The angle is based on the current accumulator value corrected by the
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* oversampling rate, the gyro type and the A/D calibration values. The angle
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* is continuous, that is it will continue from 360->361 degrees. This allows
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* algorithms that wouldn't want to see a discontinuity in the gyro output as
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* it sweeps from 360 to 0 on the second time around.
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*
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* @return The current heading of the robot in degrees. This heading is based
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* on integration of the returned rate from the gyro.
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*/
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double GetAngle() const;
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/**
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* Return the rate of rotation of the gyro
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*
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* The rate is based on the most recent reading of the gyro analog value
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*
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* @return the current rate in degrees per second
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*/
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double GetRate() const;
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/**
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* Return the gyro center value. If run after calibration,
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* the center value can be used as a preset later.
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*
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* @return the current center value
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*/
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virtual int GetCenter() const;
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/**
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* Return the gyro offset value. If run after calibration,
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* the offset value can be used as a preset later.
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*
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* @return the current offset value
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*/
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virtual double GetOffset() const;
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/**
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* Set the gyro sensitivity.
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*
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* This takes the number of volts/degree/second sensitivity of the gyro and
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* uses it in subsequent calculations to allow the code to work with multiple
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* gyros. This value is typically found in the gyro datasheet.
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*
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* @param voltsPerDegreePerSecond The sensitivity in Volts/degree/second
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*/
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void SetSensitivity(double voltsPerDegreePerSecond);
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/**
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* Set the size of the neutral zone.
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*
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* Any voltage from the gyro less than this amount from the center is
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* considered stationary. Setting a deadband will decrease the amount of
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* drift when the gyro isn't rotating, but will make it less accurate.
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*
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* @param volts The size of the deadband in volts
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*/
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void SetDeadband(double volts);
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/**
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* Reset the gyro.
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*
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* Resets the gyro to a heading of zero. This can be used if there is
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* significant drift in the gyro and it needs to be recalibrated after it has
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* been running.
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*/
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void Reset();
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/**
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* Initialize the gyro.
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*
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* Calibration is handled by Calibrate().
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*/
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void InitGyro();
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/**
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* Calibrate the gyro by running for a number of samples and computing the
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* center value. Then use the center value as the Accumulator center value for
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* subsequent measurements.
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*
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* It's important to make sure that the robot is not moving while the
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* centering calculations are in progress, this is typically done when the
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* robot is first turned on while it's sitting at rest before the competition
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* starts.
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*/
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void Calibrate();
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/**
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* Return the heading of the robot as a Rotation2d.
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*
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* The angle is continuous, that is it will continue from 360 to 361 degrees.
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* This allows algorithms that wouldn't want to see a discontinuity in the
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* gyro output as it sweeps past from 360 to 0 on the second time around.
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*
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* The angle is expected to increase as the gyro turns counterclockwise when
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* looked at from the top. It needs to follow the NWU axis convention.
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*
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* @return the current heading of the robot as a Rotation2d. This heading is
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* based on integration of the returned rate from the gyro.
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*/
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Rotation2d GetRotation2d() const;
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/**
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* Gets the analog input for the gyro.
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*
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* @return AnalogInput
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*/
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std::shared_ptr<AnalogInput> GetAnalogInput() const;
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void InitSendable(wpi::SendableBuilder& builder) override;
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private:
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std::shared_ptr<AnalogInput> m_analog;
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hal::Handle<HAL_GyroHandle, HAL_FreeAnalogGyro> m_gyroHandle;
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};
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} // namespace frc
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