65 lines
2.3 KiB
C
65 lines
2.3 KiB
C
|
/*----------------------------------------------------------------------------*/
|
||
|
|
/* 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;
|
||
|
|
};
|