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https://github.com/wpilibsuite/allwpilib
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f65e697107
I'm not 100% sure whether we want these, but they are a quick find and replace to do. Basically, there are two primary things that we have done this summer that break existing user code: -Changing GetInstance() calls to return references instead of pointers. This forces users to change from doing something like LiveWindow::GetInstance()->AddSensor() to LiveWindow::GetInstance().AddSensor(). -Making PIDGet() and related calls const, forcing users to change the function signatures wherever they override them. The GetInstance() calls don't really matter to me either way, especially since there are no real ownership issues going on there, unlike the rest of the smart pointer-related changes. For the const stuff, it is certainly more correct to mandate that user PIDGet() functions be const and the such, but at the same time, I'm not sure that there is any strong need for it, and the errors generated are not the most helpful. While this wouldn't necessarily be an issue for more experienced teams or completely new teams (who don't have any old code to be reusing), it may cause issues for more average teams who aren't familiar with the intricacies of C++ anything. Change-Id: I6e7007982069292ea70e6d0fc8ca40203340df1b
75 lines
2.5 KiB
C++
75 lines
2.5 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 "LiveWindow/LiveWindowSendable.h"
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#include <memory>
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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
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* the robot
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* rotates the new heading is computed by integrating the rate of rotation
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* returned
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* by the sensor. When the class is instantiated, it does a short calibration
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* routine
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* where it samples the gyro while at rest to determine the default offset. This
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* is
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* subtracted from each sample to determine the heading. This gyro class must be
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* used
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* with a channel that is assigned one of the Analog accumulators from the FPGA.
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* 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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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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[[deprecated(
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"Raw pointers are deprecated; consider calling the Gyro constructor with "
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"a channel number or passing a shared_ptr instead.")]]
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explicit Gyro(AnalogInput *channel);
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explicit Gyro(std::shared_ptr<AnalogInput> channel);
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virtual ~Gyro() = default;
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virtual float GetAngle() const;
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virtual double GetRate() const;
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void SetSensitivity(float voltsPerDegreePerSecond);
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void SetDeadband(float volts);
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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() 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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protected:
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std::shared_ptr<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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uint32_t m_center;
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std::shared_ptr<ITable> m_table = nullptr;
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};
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