65 lines
2.3 KiB
C++
65 lines
2.3 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. 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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#include "GyroBase.h"
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class AnalogInput;
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/**
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* Use a rate gyro to return the robots heading relative to a starting position.
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* The Gyro class tracks the robots heading based on the starting position. As
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* the robot
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* rotates the new heading is computed by integrating the rate of rotation
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* returned
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* by the sensor. When the class is instantiated, it does a short calibration
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* routine
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* where it samples the gyro while at rest to determine the default offset. This
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* is
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* subtracted from each sample to determine the heading. This gyro class must be
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* used
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* with a channel that is assigned one of the Analog accumulators from the FPGA.
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* See
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* AnalogInput for the current accumulator assignments.
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*
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* This class is for gyro sensors that connect to an analog input.
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*/
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class AnalogGyro : public GyroBase {
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public:
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static const uint32_t kOversampleBits = 10;
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static const uint32_t kAverageBits = 0;
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static constexpr float kSamplesPerSecond = 50.0;
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static constexpr float kCalibrationSampleTime = 5.0;
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static constexpr float kDefaultVoltsPerDegreePerSecond = 0.007;
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explicit AnalogGyro(int32_t channel);
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explicit AnalogGyro(AnalogInput *channel);
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explicit AnalogGyro(std::shared_ptr<AnalogInput> channel);
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AnalogGyro(int32_t channel, uint32_t center, float offset);
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AnalogGyro(std::shared_ptr<AnalogInput> channel, uint32_t center, float offset);
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virtual ~AnalogGyro() = default;
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float GetAngle() const override;
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double GetRate() const override;
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virtual uint32_t GetCenter() const;
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virtual float GetOffset() const;
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void SetSensitivity(float voltsPerDegreePerSecond);
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void SetDeadband(float volts);
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void Reset() override;
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virtual void InitGyro();
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void Calibrate() override;
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protected:
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std::shared_ptr<AnalogInput> m_analog;
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private:
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float m_voltsPerDegreePerSecond;
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float m_offset;
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uint32_t m_center;
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};
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