Squashed 'third_party/allwpilib_2017/' content from commit 35ac87d
Change-Id: I7bb6f5556c30d3f5a092e68de0be9c710c60c9f4
git-subtree-dir: third_party/allwpilib_2017
git-subtree-split: 35ac87d6ff8b7f061c4f18c9ea316e5dccd4888a
diff --git a/wpilibc/athena/include/ADXRS450_Gyro.h b/wpilibc/athena/include/ADXRS450_Gyro.h
new file mode 100644
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+++ b/wpilibc/athena/include/ADXRS450_Gyro.h
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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2015-2017. 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
+
+#include <memory>
+
+#include "GyroBase.h"
+#include "HAL/cpp/priority_mutex.h"
+#include "Notifier.h"
+#include "SPI.h"
+
+namespace frc {
+
+/**
+ * Use a rate gyro to return the robots heading relative to a starting position.
+ * The Gyro class tracks the robots heading based on the starting position. As
+ * the robot rotates the new heading is computed by integrating the rate of
+ * rotation returned by the sensor. When the class is instantiated, it does a
+ * short calibration routine where it samples the gyro while at rest to
+ * determine the default offset. This is subtracted from each sample to
+ * determine the heading.
+ *
+ * This class is for the digital ADXRS450 gyro sensor that connects via SPI.
+ */
+class ADXRS450_Gyro : public GyroBase {
+ public:
+ ADXRS450_Gyro();
+ explicit ADXRS450_Gyro(SPI::Port port);
+ virtual ~ADXRS450_Gyro() = default;
+
+ double GetAngle() const override;
+ double GetRate() const override;
+ void Reset() override;
+ void Calibrate() override;
+
+ private:
+ SPI m_spi;
+
+ uint16_t ReadRegister(int reg);
+};
+
+} // namespace frc