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https://github.com/wpilibsuite/allwpilib
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e1195e8b9d
* Revert "Force OpenCV to 3.1.0 (#602)"
This reverts commit 50ed55e8e2.
* Removes Simulation
* Removes old build system
* Removes old gtest
* Adds new gmock and gtest
* Updates to new ni-libraries
* removes MyRobot (to be replaced)
* moves files to new location
* Adds new sim backend and new test executables
* updates .styleguide and .gitignore
* Changes cpp WPILibVersion to a function
MSVC throws an AV with the old version.
* Disables USBCamera on all systems except for linux
* 2018 NI Libraries
* New build system
46 lines
1.5 KiB
C++
46 lines
1.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2015-2017. 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 <stdint.h>
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#include "GyroBase.h"
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#include "SPI.h"
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namespace frc {
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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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double 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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private:
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SPI m_spi;
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uint16_t ReadRegister(int reg);
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};
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} // namespace frc
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