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https://github.com/wpilibsuite/allwpilib
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69d9ad70ab
This is the changes made by Patrick Plenefisch converting the native code to use CMake and the CMake Maven Plugin, as opposed to the native Maven plugin. This is to allow for compatibility with newer versions of the GCC toolchain. All the cpp sources were moved from maven style directories to cpp style directories for CMake. Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593
70 lines
2.3 KiB
C++
70 lines
2.3 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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#ifndef GYRO_H_
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#define GYRO_H_
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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 AnalogChannel;
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class AnalogModule;
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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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* AnalogChannel 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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Gyro(uint8_t moduleNumber, uint32_t channel);
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explicit Gyro(uint32_t channel);
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explicit Gyro(AnalogChannel *channel);
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explicit Gyro(AnalogChannel &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 SetPIDSourceParameter(PIDSourceParameter pidSource);
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virtual void Reset();
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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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private:
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void InitGyro();
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AnalogChannel *m_analog;
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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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#endif
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