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https://github.com/wpilibsuite/allwpilib
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c20d34c2b6
Refactor common implementation parts of AnalogGyro into GyroBase. This will make it possible to add digital gyros in a similar way to how digital accelerometers were added. Change-Id: I437ef259e9ecb81f18a91a95c5a58b6607db5e15
37 lines
1.1 KiB
C++
37 lines
1.1 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved.
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*/
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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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "SensorBase.h"
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#include "PIDSource.h"
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#include "interfaces/Gyro.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include <memory>
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/**
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* GyroBase is the common base class for Gyro implementations such as
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* AnalogGyro.
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*/
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class GyroBase : public Gyro, public SensorBase, public PIDSource, public LiveWindowSendable {
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public:
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virtual ~GyroBase() = default;
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// PIDSource interface
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double PIDGet() override;
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void UpdateTable() override;
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void StartLiveWindowMode() override;
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void StopLiveWindowMode() override;
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std::string GetSmartDashboardType() const override;
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void InitTable(std::shared_ptr<ITable> subTable) override;
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std::shared_ptr<ITable> GetTable() const override;
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private:
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std::shared_ptr<ITable> m_table;
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};
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