38 lines
1.2 KiB
C++
38 lines
1.2 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 "SensorBase.h"
|
|
#include "PIDSource.h"
|
|
#include "interfaces/Gyro.h"
|
|
#include "LiveWindow/LiveWindowSendable.h"
|
|
|
|
#include <memory>
|
|
|
|
/**
|
|
* GyroBase is the common base class for Gyro implementations such as
|
|
* AnalogGyro.
|
|
*/
|
|
class GyroBase : public Gyro, public SensorBase, public PIDSource, public LiveWindowSendable {
|
|
public:
|
|
virtual ~GyroBase() = default;
|
|
|
|
// PIDSource interface
|
|
double PIDGet() override;
|
|
|
|
void UpdateTable() override;
|
|
void StartLiveWindowMode() override;
|
|
void StopLiveWindowMode() override;
|
|
std::string GetSmartDashboardType() const override;
|
|
void InitTable(std::shared_ptr<ITable> subTable) override;
|
|
std::shared_ptr<ITable> GetTable() const override;
|
|
|
|
private:
|
|
std::shared_ptr<ITable> m_table;
|
|
};
|