57 lines
2.1 KiB
C
57 lines
2.1 KiB
C
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014-2016. 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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/**
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* Interface for yaw rate gyros
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*/
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class Gyro {
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public:
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virtual ~Gyro() = default;
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/**
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* Calibrate the gyro by running for a number of samples and computing the
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* center value. Then use the center value as the Accumulator center value for
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* subsequent measurements. It's important to make sure that the robot is not
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* moving while the centering calculations are in progress, this is typically
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* done when the robot is first turned on while it's sitting at rest before
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* the competition starts.
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*/
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virtual void Calibrate() = 0;
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/**
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* Reset the gyro. Resets the gyro to a heading of zero. This can be used if
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* there is significant drift in the gyro and it needs to be recalibrated
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* after it has been running.
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*/
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virtual void Reset() = 0;
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/**
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* Return the actual angle in degrees that the robot is currently facing.
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*
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* The angle is based on the current accumulator value corrected by the
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* oversampling rate, the gyro type and the A/D calibration values. The angle
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* is continuous, that is it will continue from 360 to 361 degrees. This
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* allows algorithms that wouldn't want to see a discontinuity in the gyro
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* output as it sweeps past from 360 to 0 on the second time around.
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*
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* @return the current heading of the robot in degrees. This heading is based
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* on integration of the returned rate from the gyro.
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*/
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virtual float GetAngle() const = 0;
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/**
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* Return the rate of rotation of the gyro
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*
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* The rate is based on the most recent reading of the gyro analog value
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*
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* @return the current rate in degrees per second
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*/
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virtual double GetRate() const = 0;
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};
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