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FRC2016-old/Robot2016/wpilib/cpp/current/include/interfaces/Gyro.h
Jason 6d0e75aa64 Added new Robot project using PWM drive train... Much simpler...
Signed-off-by: Jason <jason@dublinschool.org>
2016-02-09 16:23:45 -05:00

57 lines
2.1 KiB
C++

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2014-2016. 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
/**
* Interface for yaw rate gyros
*/
class Gyro {
public:
virtual ~Gyro() = default;
/**
* 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.
*/
virtual void Calibrate() = 0;
/**
* 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.
*/
virtual void Reset() = 0;
/**
* Return the actual angle in degrees that the robot is currently facing.
*
* The angle is based on the current accumulator value corrected by the
* oversampling rate, the gyro type and the A/D calibration values. 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.
*
* @return the current heading of the robot in degrees. This heading is based
* on integration of the returned rate from the gyro.
*/
virtual float GetAngle() const = 0;
/**
* Return the rate of rotation of the gyro
*
* The rate is based on the most recent reading of the gyro analog value
*
* @return the current rate in degrees per second
*/
virtual double GetRate() const = 0;
};