wpilibc/simulation/src/AnalogGyro.cpp

/*----------------------------------------------------------------------------*/
/* 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.                                                               */
/*----------------------------------------------------------------------------*/

#include "AnalogGyro.h"
#include "Timer.h"
#include "WPIErrors.h"
#include "LiveWindow/LiveWindow.h"

const uint32_t AnalogGyro::kOversampleBits = 10;
const uint32_t AnalogGyro::kAverageBits = 0;
const float AnalogGyro::kSamplesPerSecond = 50.0;
const float AnalogGyro::kCalibrationSampleTime = 5.0;
const float AnalogGyro::kDefaultVoltsPerDegreePerSecond = 0.007;

/**
 * Initialize the gyro.
 * Calibrate the gyro by running for a number of samples and computing the center value for this
 * part. 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.
 */
void AnalogGyro::InitAnalogGyro(int channel)
{
	SetPIDSourceType(PIDSourceType::kDisplacement);

	char buffer[50];
	int n = sprintf(buffer, "analog/%d", channel);
	impl = new SimGyro(buffer);

	LiveWindow::GetInstance()->AddSensor("AnalogGyro", channel, this);
}

/**
 * AnalogGyro constructor with only a channel..
 *
 * @param channel The analog channel the gyro is connected to.
 */
AnalogGyro::AnalogGyro(uint32_t channel)
{
    InitAnalogGyro(channel);
}

/**
 * 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.
 */
void AnalogGyro::Reset()
{
    impl->Reset();
}

void AnalogGyro::Calibrate(){
	Reset();
}

/**
 * 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 can go beyond 360 degrees. This make algorithms that wouldn't
 * want to see a discontinuity in the gyro output as it sweeps past 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.
 */
float AnalogGyro::GetAngle() const
{
    return impl->GetAngle();
}


/**
 * 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
 */
double AnalogGyro::GetRate() const
{
    return impl->GetVelocity();
}