| Brian Silverman | 1a67511 | 2016-02-20 20:42:49 -0500 | [diff] [blame^] | 1 | /*----------------------------------------------------------------------------*/ |
| 2 | /* Copyright (c) FIRST 2008-2016. All Rights Reserved. */ |
| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */ |
| 4 | /* must be accompanied by the FIRST BSD license file in the root directory of */ |
| 5 | /* the project. */ |
| 6 | /*----------------------------------------------------------------------------*/ |
| 7 | |
| 8 | #include "AnalogGyro.h" |
| 9 | #include "Timer.h" |
| 10 | #include "WPIErrors.h" |
| 11 | #include "LiveWindow/LiveWindow.h" |
| 12 | |
| 13 | const uint32_t AnalogGyro::kOversampleBits = 10; |
| 14 | const uint32_t AnalogGyro::kAverageBits = 0; |
| 15 | const float AnalogGyro::kSamplesPerSecond = 50.0; |
| 16 | const float AnalogGyro::kCalibrationSampleTime = 5.0; |
| 17 | const float AnalogGyro::kDefaultVoltsPerDegreePerSecond = 0.007; |
| 18 | |
| 19 | /** |
| 20 | * Initialize the gyro. |
| 21 | * Calibrate the gyro by running for a number of samples and computing the center value for this |
| 22 | * part. Then use the center value as the Accumulator center value for subsequent measurements. |
| 23 | * It's important to make sure that the robot is not moving while the centering calculations are |
| 24 | * in progress, this is typically done when the robot is first turned on while it's sitting at |
| 25 | * rest before the competition starts. |
| 26 | */ |
| 27 | void AnalogGyro::InitAnalogGyro(int channel) |
| 28 | { |
| 29 | SetPIDSourceType(PIDSourceType::kDisplacement); |
| 30 | |
| 31 | char buffer[50]; |
| 32 | int n = sprintf(buffer, "analog/%d", channel); |
| 33 | impl = new SimGyro(buffer); |
| 34 | |
| 35 | LiveWindow::GetInstance()->AddSensor("AnalogGyro", channel, this); |
| 36 | } |
| 37 | |
| 38 | /** |
| 39 | * AnalogGyro constructor with only a channel.. |
| 40 | * |
| 41 | * @param channel The analog channel the gyro is connected to. |
| 42 | */ |
| 43 | AnalogGyro::AnalogGyro(uint32_t channel) |
| 44 | { |
| 45 | InitAnalogGyro(channel); |
| 46 | } |
| 47 | |
| 48 | /** |
| 49 | * Reset the gyro. |
| 50 | * Resets the gyro to a heading of zero. This can be used if there is significant |
| 51 | * drift in the gyro and it needs to be recalibrated after it has been running. |
| 52 | */ |
| 53 | void AnalogGyro::Reset() |
| 54 | { |
| 55 | impl->Reset(); |
| 56 | } |
| 57 | |
| 58 | void AnalogGyro::Calibrate(){ |
| 59 | Reset(); |
| 60 | } |
| 61 | |
| 62 | /** |
| 63 | * Return the actual angle in degrees that the robot is currently facing. |
| 64 | * |
| 65 | * The angle is based on the current accumulator value corrected by the oversampling rate, the |
| 66 | * gyro type and the A/D calibration values. |
| 67 | * The angle is continuous, that is can go beyond 360 degrees. This make algorithms that wouldn't |
| 68 | * want to see a discontinuity in the gyro output as it sweeps past 0 on the second time around. |
| 69 | * |
| 70 | * @return the current heading of the robot in degrees. This heading is based on integration |
| 71 | * of the returned rate from the gyro. |
| 72 | */ |
| 73 | float AnalogGyro::GetAngle() const |
| 74 | { |
| 75 | return impl->GetAngle(); |
| 76 | } |
| 77 | |
| 78 | |
| 79 | /** |
| 80 | * Return the rate of rotation of the gyro |
| 81 | * |
| 82 | * The rate is based on the most recent reading of the gyro analog value |
| 83 | * |
| 84 | * @return the current rate in degrees per second |
| 85 | */ |
| 86 | double AnalogGyro::GetRate() const |
| 87 | { |
| 88 | return impl->GetVelocity(); |
| 89 | } |