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frc::ADXRS450_Gyro Class Reference

Use a rate gyro to return the robots heading relative to a starting position. More...

#include <ADXRS450_Gyro.h>

Inheritance diagram for frc::ADXRS450_Gyro:
frc::GyroBase frc::Gyro frc::SensorBase frc::PIDSource frc::LiveWindowSendable frc::ErrorBase frc::Sendable

Public Member Functions

 ADXRS450_Gyro ()
 Gyro constructor on onboard CS0.
 
 ADXRS450_Gyro (SPI::Port port)
 Gyro constructor on the specified SPI port. More...
 
double GetAngle () const override
 Return the actual angle in degrees that the robot is currently facing. More...
 
double GetRate () const override
 Return the rate of rotation of the gyro. More...
 
void Reset () override
 Reset the gyro. More...
 
void Calibrate () override
 Initialize the gyro. More...
 
- Public Member Functions inherited from frc::GyroBase
double PIDGet () override
 Get the PIDOutput for the PIDSource base object. More...
 
void UpdateTable () override
 Update the table for this sendable object with the latest values.
 
void StartLiveWindowMode () override
 Start having this sendable object automatically respond to value changes reflect the value on the table.
 
void StopLiveWindowMode () override
 Stop having this sendable object automatically respond to value changes.
 
std::string GetSmartDashboardType () const override
 
void InitTable (std::shared_ptr< ITable > subTable) override
 Initializes a table for this sendable object. More...
 
std::shared_ptr< ITableGetTable () const override
 
- Public Member Functions inherited from frc::SensorBase
 SensorBase (const SensorBase &)=delete
 
SensorBaseoperator= (const SensorBase &)=delete
 
- Public Member Functions inherited from frc::ErrorBase
 ErrorBase (const ErrorBase &)=delete
 
ErrorBaseoperator= (const ErrorBase &)=delete
 
virtual ErrorGetError ()
 Retrieve the current error. More...
 
virtual const ErrorGetError () const
 
virtual void SetErrnoError (llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set error information associated with a C library call that set an error to the "errno" global variable. More...
 
virtual void SetImaqError (int success, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set the current error information associated from the nivision Imaq API. More...
 
virtual void SetError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetErrorRange (Error::Code code, int32_t minRange, int32_t maxRange, int32_t requestedValue, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetWPIError (llvm::StringRef errorMessage, Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void CloneError (const ErrorBase &rhs) const
 
virtual void ClearError () const
 Clear the current error information associated with this sensor.
 
virtual bool StatusIsFatal () const
 Check if the current error code represents a fatal error. More...
 
- Public Member Functions inherited from frc::PIDSource
virtual void SetPIDSourceType (PIDSourceType pidSource)
 Set which parameter you are using as a process control variable. More...
 
PIDSourceType GetPIDSourceType () const
 

Additional Inherited Members

- Static Public Member Functions inherited from frc::SensorBase
static int GetDefaultSolenoidModule ()
 
static bool CheckSolenoidModule (int moduleNumber)
 Check that the solenoid module number is valid. More...
 
static bool CheckDigitalChannel (int channel)
 Check that the digital channel number is valid. More...
 
static bool CheckRelayChannel (int channel)
 Check that the relay channel number is valid. More...
 
static bool CheckPWMChannel (int channel)
 Check that the digital channel number is valid. More...
 
static bool CheckAnalogInputChannel (int channel)
 Check that the analog input number is value. More...
 
static bool CheckAnalogOutputChannel (int channel)
 Check that the analog output number is valid. More...
 
static bool CheckSolenoidChannel (int channel)
 Verify that the solenoid channel number is within limits. More...
 
static bool CheckPDPChannel (int channel)
 Verify that the power distribution channel number is within limits. More...
 
- Static Public Member Functions inherited from frc::ErrorBase
static void SetGlobalError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber)
 
static void SetGlobalWPIError (llvm::StringRef errorMessage, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber)
 
static ErrorGetGlobalError ()
 Retrieve the current global error.
 
- Static Public Attributes inherited from frc::SensorBase
static const int kDigitalChannels = HAL_GetNumDigitalChannels()
 
static const int kAnalogInputs = HAL_GetNumAnalogInputs()
 
static const int kAnalogOutputs
 
static const int kSolenoidChannels = HAL_GetNumSolenoidChannels()
 
static const int kSolenoidModules = HAL_GetNumPCMModules()
 
static const int kPwmChannels = HAL_GetNumPWMChannels()
 
static const int kRelayChannels = HAL_GetNumRelayHeaders()
 
static const int kPDPChannels = HAL_GetNumPDPChannels()
 
- Protected Attributes inherited from frc::ErrorBase
Error m_error
 
- Protected Attributes inherited from frc::PIDSource
PIDSourceType m_pidSource = PIDSourceType::kDisplacement
 
- Static Protected Attributes inherited from frc::ErrorBase
static hal::priority_mutex _globalErrorMutex
 
static Error _globalError
 

Detailed Description

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.

Constructor & Destructor Documentation

ADXRS450_Gyro::ADXRS450_Gyro ( SPI::Port  port)
explicit

Gyro constructor on the specified SPI port.

Parameters
portThe SPI port the gyro is attached to.

Member Function Documentation

void ADXRS450_Gyro::Calibrate ( )
overridevirtual

Initialize the gyro.

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.

Implements frc::Gyro.

double ADXRS450_Gyro::GetAngle ( ) const
overridevirtual

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.

Returns
the current heading of the robot in degrees. This heading is based on integration of the returned rate from the gyro.

Implements frc::Gyro.

double ADXRS450_Gyro::GetRate ( ) const
overridevirtual

Return the rate of rotation of the gyro.

The rate is based on the most recent reading of the gyro analog value

Returns
the current rate in degrees per second

Implements frc::Gyro.

void ADXRS450_Gyro::Reset ( )
overridevirtual

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.

Implements frc::Gyro.


The documentation for this class was generated from the following files: