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FRC2016-old/DriveBase/wpilib/cpp/current/include/AnalogGyro.h

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2016-01-28 11:33:19 -05:00
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2016. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "GyroBase.h"
class AnalogInput;
/**
* 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 gyro class must be
* used
* with a channel that is assigned one of the Analog accumulators from the FPGA.
* See
* AnalogInput for the current accumulator assignments.
*
* This class is for gyro sensors that connect to an analog input.
*/
class AnalogGyro : public GyroBase {
public:
static const uint32_t kOversampleBits = 10;
static const uint32_t kAverageBits = 0;
static constexpr float kSamplesPerSecond = 50.0;
static constexpr float kCalibrationSampleTime = 5.0;
static constexpr float kDefaultVoltsPerDegreePerSecond = 0.007;
explicit AnalogGyro(int32_t channel);
explicit AnalogGyro(AnalogInput *channel);
explicit AnalogGyro(std::shared_ptr<AnalogInput> channel);
AnalogGyro(int32_t channel, uint32_t center, float offset);
AnalogGyro(std::shared_ptr<AnalogInput> channel, uint32_t center, float offset);
virtual ~AnalogGyro() = default;
float GetAngle() const override;
double GetRate() const override;
virtual uint32_t GetCenter() const;
virtual float GetOffset() const;
void SetSensitivity(float voltsPerDegreePerSecond);
void SetDeadband(float volts);
void Reset() override;
virtual void InitGyro();
void Calibrate() override;
protected:
std::shared_ptr<AnalogInput> m_analog;
private:
float m_voltsPerDegreePerSecond;
float m_offset;
uint32_t m_center;
};