mirror of
https://github.com/wpilibsuite/allwpilib
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d89b7dd412
The old headers were moved into folders because doing so avoids polluting the system include directories. Folder names were also normalized to lowercase.
30 lines
1003 B
C++
30 lines
1003 B
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2018 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 "frc/GyroBase.h"
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#include "frc/WPIErrors.h"
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#include "frc/smartdashboard/SendableBuilder.h"
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using namespace frc;
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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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