| jerrym | f157933 | 2013-02-07 01:56:28 +0000 | [diff] [blame] | 1 | /*----------------------------------------------------------------------------*/
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| 2 | /* Copyright (c) FIRST 2008. All Rights Reserved. */
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| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */
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| 4 | /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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| 5 | /*----------------------------------------------------------------------------*/
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| 6 |
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| 7 | #ifndef GYRO_H_
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| 8 | #define GYRO_H_
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| 9 |
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| 10 | #include "SensorBase.h"
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| 11 | #include "PIDSource.h"
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| 12 | #include "LiveWindow/LiveWindowSendable.h"
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| 13 |
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| 14 | class AnalogChannel;
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| 15 | class AnalogModule;
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| 16 |
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| 17 | /**
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| 18 | * Use a rate gyro to return the robots heading relative to a starting position.
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| 19 | * The Gyro class tracks the robots heading based on the starting position. As the robot
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| 20 | * rotates the new heading is computed by integrating the rate of rotation returned
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| 21 | * by the sensor. When the class is instantiated, it does a short calibration routine
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| 22 | * where it samples the gyro while at rest to determine the default offset. This is
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| 23 | * subtracted from each sample to determine the heading. This gyro class must be used
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| 24 | * with a channel that is assigned one of the Analog accumulators from the FPGA. See
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| 25 | * AnalogChannel for the current accumulator assignments.
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| 26 | */
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| 27 | class Gyro : public SensorBase, public PIDSource, public LiveWindowSendable
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| 28 | {
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| 29 | public:
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| 30 | static const UINT32 kOversampleBits = 10;
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| 31 | static const UINT32 kAverageBits = 0;
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| 32 | static const float kSamplesPerSecond = 50.0;
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| 33 | static const float kCalibrationSampleTime = 5.0;
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| 34 | static const float kDefaultVoltsPerDegreePerSecond = 0.007;
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| 35 |
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| 36 | Gyro(UINT8 moduleNumber, UINT32 channel);
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| 37 | explicit Gyro(UINT32 channel);
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| 38 | explicit Gyro(AnalogChannel *channel);
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| 39 | explicit Gyro(AnalogChannel &channel);
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| 40 | virtual ~Gyro();
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| 41 | virtual float GetAngle();
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| 42 | void SetSensitivity(float voltsPerDegreePerSecond);
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| 43 | virtual void Reset();
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| 44 |
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| 45 | // PIDSource interface
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| 46 | double PIDGet();
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| 47 |
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| 48 | void UpdateTable();
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| 49 | void StartLiveWindowMode();
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| 50 | void StopLiveWindowMode();
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| 51 | std::string GetSmartDashboardType();
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| 52 | void InitTable(ITable *subTable);
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| 53 | ITable * GetTable();
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| 54 |
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| 55 | private:
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| 56 | void InitGyro();
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| 57 |
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| 58 | AnalogChannel *m_analog;
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| 59 | float m_voltsPerDegreePerSecond;
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| 60 | float m_offset;
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| 61 | bool m_channelAllocated;
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| 62 |
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| 63 | ITable *m_table;
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| 64 | };
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| 65 | #endif
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