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/src/AnalogGyro.cpp b/wpilibc/athena/src/AnalogGyro.cpp
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+++ b/wpilibc/athena/src/AnalogGyro.cpp
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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "AnalogGyro.h"
+#include "HAL/AnalogGyro.h"
+
+#include <climits>
+
+#include "AnalogInput.h"
+#include "HAL/Errors.h"
+#include "HAL/HAL.h"
+#include "LiveWindow/LiveWindow.h"
+#include "Timer.h"
+#include "WPIErrors.h"
+
+using namespace frc;
+
+const int AnalogGyro::kOversampleBits;
+const int AnalogGyro::kAverageBits;
+constexpr double AnalogGyro::kSamplesPerSecond;
+constexpr double AnalogGyro::kCalibrationSampleTime;
+constexpr double AnalogGyro::kDefaultVoltsPerDegreePerSecond;
+
+/**
+ * Gyro constructor using the Analog Input channel number.
+ *
+ * @param channel The analog channel the gyro is connected to. Gyros can only
+ * be used on on-board Analog Inputs 0-1.
+ */
+AnalogGyro::AnalogGyro(int channel)
+ : AnalogGyro(std::make_shared<AnalogInput>(channel)) {}
+
+/**
+ * Gyro constructor with a precreated AnalogInput object.
+ *
+ * Use this constructor when the analog channel needs to be shared.
+ * This object will not clean up the AnalogInput object when using this
+ * constructor.
+ *
+ * Gyros can only be used on on-board channels 0-1.
+ *
+ * @param channel A pointer to the AnalogInput object that the gyro is
+ * connected to.
+ */
+AnalogGyro::AnalogGyro(AnalogInput* channel)
+ : AnalogGyro(
+ std::shared_ptr<AnalogInput>(channel, NullDeleter<AnalogInput>())) {}
+
+/**
+ * Gyro constructor with a precreated AnalogInput object.
+ *
+ * Use this constructor when the analog channel needs to be shared.
+ * This object will not clean up the AnalogInput object when using this
+ * constructor.
+ *
+ * @param channel A pointer to the AnalogInput object that the gyro is
+ * connected to.
+ */
+AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel)
+ : m_analog(channel) {
+ if (channel == nullptr) {
+ wpi_setWPIError(NullParameter);
+ } else {
+ InitGyro();
+ Calibrate();
+ }
+}
+
+/**
+ * Gyro constructor using the Analog Input channel number with parameters for
+ * presetting the center and offset values. Bypasses calibration.
+ *
+ * @param channel The analog channel the gyro is connected to. Gyros can only
+ * be used on on-board Analog Inputs 0-1.
+ * @param center Preset uncalibrated value to use as the accumulator center
+ * value.
+ * @param offset Preset uncalibrated value to use as the gyro offset.
+ */
+AnalogGyro::AnalogGyro(int channel, int center, double offset) {
+ m_analog = std::make_shared<AnalogInput>(channel);
+ InitGyro();
+ int32_t status = 0;
+ HAL_SetAnalogGyroParameters(m_gyroHandle, kDefaultVoltsPerDegreePerSecond,
+ offset, center, &status);
+ if (status != 0) {
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ m_gyroHandle = HAL_kInvalidHandle;
+ return;
+ }
+ Reset();
+}
+
+/**
+ * Gyro constructor with a precreated AnalogInput object and calibrated
+ * parameters.
+ *
+ * Use this constructor when the analog channel needs to be shared.
+ * This object will not clean up the AnalogInput object when using this
+ * constructor.
+ *
+ * @param channel A pointer to the AnalogInput object that the gyro is
+ * connected to.
+ */
+AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel, int center,
+ double offset)
+ : m_analog(channel) {
+ if (channel == nullptr) {
+ wpi_setWPIError(NullParameter);
+ } else {
+ InitGyro();
+ int32_t status = 0;
+ HAL_SetAnalogGyroParameters(m_gyroHandle, kDefaultVoltsPerDegreePerSecond,
+ offset, center, &status);
+ if (status != 0) {
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ m_gyroHandle = HAL_kInvalidHandle;
+ return;
+ }
+ Reset();
+ }
+}
+
+/**
+ * AnalogGyro Destructor
+ *
+ */
+AnalogGyro::~AnalogGyro() { HAL_FreeAnalogGyro(m_gyroHandle); }
+
+/**
+ * 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() {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_ResetAnalogGyro(m_gyroHandle, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Initialize the gyro. Calibration is handled by Calibrate().
+ */
+void AnalogGyro::InitGyro() {
+ if (StatusIsFatal()) return;
+ if (m_gyroHandle == HAL_kInvalidHandle) {
+ int32_t status = 0;
+ m_gyroHandle = HAL_InitializeAnalogGyro(m_analog->m_port, &status);
+ if (status == PARAMETER_OUT_OF_RANGE) {
+ wpi_setWPIErrorWithContext(ParameterOutOfRange,
+ " channel (must be accumulator channel)");
+ m_analog = nullptr;
+ m_gyroHandle = HAL_kInvalidHandle;
+ return;
+ }
+ if (status != 0) {
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ m_analog = nullptr;
+ m_gyroHandle = HAL_kInvalidHandle;
+ return;
+ }
+ }
+
+ int32_t status = 0;
+ HAL_SetupAnalogGyro(m_gyroHandle, &status);
+ if (status != 0) {
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ m_analog = nullptr;
+ m_gyroHandle = HAL_kInvalidHandle;
+ return;
+ }
+
+ HAL_Report(HALUsageReporting::kResourceType_Gyro, m_analog->GetChannel());
+ LiveWindow::GetInstance()->AddSensor("AnalogGyro", m_analog->GetChannel(),
+ this);
+}
+
+void AnalogGyro::Calibrate() {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_CalibrateAnalogGyro(m_gyroHandle, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * 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->361 degrees. This
+ * allows algorithms that wouldn't want to see a discontinuity in the gyro
+ * output as it sweeps 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.
+ */
+double AnalogGyro::GetAngle() const {
+ if (StatusIsFatal()) return 0.0;
+ int32_t status = 0;
+ double value = HAL_GetAnalogGyroAngle(m_gyroHandle, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return value;
+}
+
+/**
+ * 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 {
+ if (StatusIsFatal()) return 0.0;
+ int32_t status = 0;
+ double value = HAL_GetAnalogGyroRate(m_gyroHandle, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return value;
+}
+
+/**
+ * Return the gyro offset value. If run after calibration,
+ * the offset value can be used as a preset later.
+ *
+ * @return the current offset value
+ */
+double AnalogGyro::GetOffset() const {
+ if (StatusIsFatal()) return 0.0;
+ int32_t status = 0;
+ double value = HAL_GetAnalogGyroOffset(m_gyroHandle, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return value;
+}
+
+/**
+ * Return the gyro center value. If run after calibration,
+ * the center value can be used as a preset later.
+ *
+ * @return the current center value
+ */
+int AnalogGyro::GetCenter() const {
+ if (StatusIsFatal()) return 0;
+ int32_t status = 0;
+ int value = HAL_GetAnalogGyroCenter(m_gyroHandle, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return value;
+}
+
+/**
+ * Set the gyro sensitivity.
+ *
+ * This takes the number of volts/degree/second sensitivity of the gyro and uses
+ * it in subsequent calculations to allow the code to work with multiple gyros.
+ * This value is typically found in the gyro datasheet.
+ *
+ * @param voltsPerDegreePerSecond The sensitivity in Volts/degree/second
+ */
+void AnalogGyro::SetSensitivity(double voltsPerDegreePerSecond) {
+ int32_t status = 0;
+ HAL_SetAnalogGyroVoltsPerDegreePerSecond(m_gyroHandle,
+ voltsPerDegreePerSecond, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Set the size of the neutral zone.
+ *
+ * Any voltage from the gyro less than this amount from the center is
+ * considered stationary. Setting a deadband will decrease the amount of drift
+ * when the gyro isn't rotating, but will make it less accurate.
+ *
+ * @param volts The size of the deadband in volts
+ */
+void AnalogGyro::SetDeadband(double volts) {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_SetAnalogGyroDeadband(m_gyroHandle, volts, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}