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https://github.com/wpilibsuite/allwpilib
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bb8ea17acf
Allows user to cause gyro calibration on demand. It also exposes the AnalogInput object as protected to allow the user to extend the gyro class and implement their own calibration. Change-Id: Ib4206a9b16ce6d5e8e5ca9c28a14471974705a7f
67 lines
2.2 KiB
C++
67 lines
2.2 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. 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 $(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 "LiveWindow/LiveWindowSendable.h"
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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 the robot
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* rotates the new heading is computed by integrating the rate of rotation returned
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* by the sensor. When the class is instantiated, it does a short calibration routine
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* where it samples the gyro while at rest to determine the default offset. This is
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* subtracted from each sample to determine the heading. This gyro class must be used
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* with a channel that is assigned one of the Analog accumulators from the FPGA. See
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* AnalogInput for the current accumulator assignments.
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*/
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class Gyro : public SensorBase, public PIDSource, public LiveWindowSendable
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{
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public:
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static const uint32_t kOversampleBits = 10;
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static const uint32_t kAverageBits = 0;
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static constexpr float kSamplesPerSecond = 50.0;
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static constexpr float kCalibrationSampleTime = 5.0;
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static constexpr float kDefaultVoltsPerDegreePerSecond = 0.007;
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explicit Gyro(int32_t channel);
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explicit Gyro(AnalogInput *channel);
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explicit Gyro(AnalogInput &channel);
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virtual ~Gyro();
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virtual float GetAngle();
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virtual double GetRate();
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void SetSensitivity(float voltsPerDegreePerSecond);
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void SetDeadband(float volts);
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void SetPIDSourceParameter(PIDSourceParameter pidSource);
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virtual void Reset();
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void InitGyro();
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// PIDSource interface
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double PIDGet();
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void UpdateTable();
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void StartLiveWindowMode();
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void StopLiveWindowMode();
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std::string GetSmartDashboardType();
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void InitTable(ITable *subTable);
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ITable * GetTable();
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protected:
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AnalogInput *m_analog;
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private:
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float m_voltsPerDegreePerSecond;
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float m_offset;
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bool m_channelAllocated;
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uint32_t m_center;
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PIDSourceParameter m_pidSource;
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ITable *m_table;
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};
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