mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-29 02:21:44 +00:00
14f30752ab
Accelerometer is hyper-specific to ADXL accelerometers, and Gyro is less useful now that 3D IMUs are prevalent, and if those IMUs want to support the Gyro interface, they also need to provide a way to set the axis used for the Gyro interface, which is confusing. Higher-order functions (e.g., lambdas) are a more flexible interface boundary than interfaces, but they didn't exist when these interfaces were created.
133 lines
3.9 KiB
C++
133 lines
3.9 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
|
|
// Open Source Software; you can modify and/or share it under the terms of
|
|
// the WPILib BSD license file in the root directory of this project.
|
|
|
|
#pragma once
|
|
|
|
#include <stdint.h>
|
|
|
|
#include <hal/SimDevice.h>
|
|
#include <wpi/sendable/Sendable.h>
|
|
#include <wpi/sendable/SendableHelper.h>
|
|
|
|
#include "frc/SPI.h"
|
|
#include "frc/geometry/Rotation2d.h"
|
|
|
|
namespace frc {
|
|
|
|
/**
|
|
* Use a rate gyro to return the robots heading relative to a starting position.
|
|
*
|
|
* The %Gyro class tracks the robots heading based on the starting position. As
|
|
* the robot rotates the new heading is computed by integrating the rate of
|
|
* rotation returned by the sensor. When the class is instantiated, it does a
|
|
* short calibration routine where it samples the gyro while at rest to
|
|
* determine the default offset. This is subtracted from each sample to
|
|
* determine the heading.
|
|
*
|
|
* This class is for the digital ADXRS450 gyro sensor that connects via SPI.
|
|
* Only one instance of an ADXRS %Gyro is supported.
|
|
*/
|
|
class ADXRS450_Gyro : public wpi::Sendable,
|
|
public wpi::SendableHelper<ADXRS450_Gyro> {
|
|
public:
|
|
/**
|
|
* %Gyro constructor on onboard CS0.
|
|
*/
|
|
ADXRS450_Gyro();
|
|
|
|
/**
|
|
* %Gyro constructor on the specified SPI port.
|
|
*
|
|
* @param port The SPI port the gyro is attached to.
|
|
*/
|
|
explicit ADXRS450_Gyro(SPI::Port port);
|
|
|
|
~ADXRS450_Gyro() override = default;
|
|
|
|
ADXRS450_Gyro(ADXRS450_Gyro&&) = default;
|
|
ADXRS450_Gyro& operator=(ADXRS450_Gyro&&) = default;
|
|
|
|
bool IsConnected() const;
|
|
|
|
/**
|
|
* Return the actual angle in degrees that the robot is currently facing.
|
|
*
|
|
* The angle is based on integration of the returned rate from the gyro.
|
|
* The angle is continuous, that is it will continue from 360->361 degrees.
|
|
* This allows algorithms that wouldn't want to see a discontinuity in the
|
|
* gyro output as it sweeps from 360 to 0 on the second time around.
|
|
*
|
|
* @return the current heading of the robot in degrees.
|
|
*/
|
|
double GetAngle() const;
|
|
|
|
/**
|
|
* Return the rate of rotation of the gyro
|
|
*
|
|
* The rate is based on the most recent reading of the gyro.
|
|
*
|
|
* @return the current rate in degrees per second
|
|
*/
|
|
double GetRate() const;
|
|
|
|
/**
|
|
* Reset the gyro.
|
|
*
|
|
* Resets the gyro to a heading of zero. This can be used if there is
|
|
* significant drift in the gyro and it needs to be recalibrated after it has
|
|
* been running.
|
|
*/
|
|
void Reset();
|
|
|
|
/**
|
|
* Calibrate the gyro by running for a number of samples and computing the
|
|
* center value. Then use the center value as the Accumulator center value for
|
|
* subsequent measurements.
|
|
*
|
|
* It's important to make sure that the robot is not moving while the
|
|
* centering calculations are in progress, this is typically done when the
|
|
* robot is first turned on while it's sitting at rest before the competition
|
|
* starts.
|
|
*/
|
|
void Calibrate();
|
|
|
|
/**
|
|
* Return the heading of the robot as a Rotation2d.
|
|
*
|
|
* The angle is continuous, that is it will continue from 360 to 361 degrees.
|
|
* This allows algorithms that wouldn't want to see a discontinuity in the
|
|
* gyro output as it sweeps past from 360 to 0 on the second time around.
|
|
*
|
|
* The angle is expected to increase as the gyro turns counterclockwise when
|
|
* looked at from the top. It needs to follow the NWU axis convention.
|
|
*
|
|
* @return the current heading of the robot as a Rotation2d. This heading is
|
|
* based on integration of the returned rate from the gyro.
|
|
*/
|
|
Rotation2d GetRotation2d() const;
|
|
|
|
/**
|
|
* Get the SPI port number.
|
|
*
|
|
* @return The SPI port number.
|
|
*/
|
|
int GetPort() const;
|
|
|
|
void InitSendable(wpi::SendableBuilder& builder) override;
|
|
|
|
private:
|
|
SPI m_spi;
|
|
SPI::Port m_port;
|
|
bool m_connected{false};
|
|
|
|
hal::SimDevice m_simDevice;
|
|
hal::SimBoolean m_simConnected;
|
|
hal::SimDouble m_simAngle;
|
|
hal::SimDouble m_simRate;
|
|
|
|
uint16_t ReadRegister(int reg);
|
|
};
|
|
|
|
} // namespace frc
|