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bd2a28f597
This is a digital gyro interfaced via SPI. Uses the HAL SPI accumulator. Basic code function successfully tested on a ADXRS453. Change-Id: Ibc0c7db9964c041fb1e04af4db17e3310ea83c04
45 lines
1.5 KiB
C++
45 lines
1.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2015. 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 "GyroBase.h"
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#include "Notifier.h"
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#include "SPI.h"
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#include "HAL/cpp/priority_mutex.h"
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#include <memory>
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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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float 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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std::string GetSmartDashboardType() const override;
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private:
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SPI m_spi;
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uint16_t ReadRegister(uint8_t reg);
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};
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