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https://github.com/wpilibsuite/allwpilib
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f9bece2ffb
LiveWindow.updateValues() is now called from IterativeRobotBase on every loop iteration. Telemetry for all WPILib classes is enabled by default; it can be disabled for specific classes using LiveWindow.disableTelemetry(), or all telemetry can be disabled using LiveWindow.disableAllTelemetry(). This necessitated changing the hook methodology into other classes to be more property-based rather than each class providing multiple functions. This had the benefit of reducing boilerplate and increasing consistency. - Remove NamedSendable, add name to Sendable. - Provide SendableBase abstract class. - Deprecate LiveWindow addSensor/addActuator interfaces. - Add LiveWindow support to drive classes. - Add addChild() helper functions to Subsystem. - Fix inheritance hierarchy. Now only sensors inherit from SensorBase. Other devices inherit from some combination of SendableBase, ErrorBase, or nothing.
36 lines
1.2 KiB
C++
36 lines
1.2 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 "SmartDashboard/SendableBuilder.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::InitSendable(SendableBuilder& builder) {
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builder.SetSmartDashboardType("Gyro");
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builder.AddDoubleProperty("Value", [=]() { return GetAngle(); }, nullptr);
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}
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