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/shared/include/interfaces/Gyro.h b/wpilibc/shared/include/interfaces/Gyro.h
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+++ b/wpilibc/shared/include/interfaces/Gyro.h
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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014. 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. */
+/*----------------------------------------------------------------------------*/
+#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;
+};