Squashed 'third_party/allwpilib_2016/' content from commit 7f61816
Change-Id: If9d9245880859cdf580f5d7f77045135d0521ce7
git-subtree-dir: third_party/allwpilib_2016
git-subtree-split: 7f618166ed253a24629934fcf89c3decb0528a3b
diff --git a/wpilibc/Athena/src/GyroBase.cpp b/wpilibc/Athena/src/GyroBase.cpp
new file mode 100644
index 0000000..4cc9056
--- /dev/null
+++ b/wpilibc/Athena/src/GyroBase.cpp
@@ -0,0 +1,46 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
+/*----------------------------------------------------------------------------*/
+
+#include "GyroBase.h"
+#include "WPIErrors.h"
+#include "LiveWindow/LiveWindow.h"
+
+/**
+ * Get the PIDOutput for the PIDSource base object. Can be set to return
+ * angle or rate using SetPIDSourceType(). Defaults to angle.
+ *
+ * @return The PIDOutput (angle or rate, defaults to angle)
+ */
+double GyroBase::PIDGet() {
+ switch (GetPIDSourceType()) {
+ case PIDSourceType::kRate:
+ return GetRate();
+ case PIDSourceType::kDisplacement:
+ return GetAngle();
+ default:
+ return 0;
+ }
+}
+
+void GyroBase::UpdateTable() {
+ if (m_table != nullptr) {
+ m_table->PutNumber("Value", GetAngle());
+ }
+}
+
+void GyroBase::StartLiveWindowMode() {}
+
+void GyroBase::StopLiveWindowMode() {}
+
+std::string GyroBase::GetSmartDashboardType() const { return "Gyro"; }
+
+void GyroBase::InitTable(std::shared_ptr<ITable> subTable) {
+ m_table = subTable;
+ UpdateTable();
+}
+
+std::shared_ptr<ITable> GyroBase::GetTable() const { return m_table; }