WPILibC++
unspecified
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Use a rate gyro to return the robots heading relative to a starting position. More...
#include <ADXRS450_Gyro.h>
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... | |
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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< nt::NetworkTable > subTable) override |
Initializes a table for this sendable object. More... | |
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SensorBase (const SensorBase &)=delete | |
SensorBase & | operator= (const SensorBase &)=delete |
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ErrorBase (const ErrorBase &)=delete | |
ErrorBase & | operator= (const ErrorBase &)=delete |
virtual Error & | GetError () |
Retrieve the current error. More... | |
virtual const Error & | GetError () 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... | |
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virtual void | SetPIDSourceType (PIDSourceType pidSource) |
Set which parameter you are using as a process control variable. More... | |
PIDSourceType | GetPIDSourceType () const |
Additional Inherited Members | |
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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... | |
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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 Error & | GetGlobalError () |
Retrieve the current global error. | |
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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() |
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Error | m_error |
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PIDSourceType | m_pidSource = PIDSourceType::kDisplacement |
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static std::mutex | _globalErrorMutex |
static Error | _globalError |
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.
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explicit |
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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.
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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.
Implements frc::Gyro.
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overridevirtual |
Return the rate of rotation of the gyro.
The rate is based on the most recent reading of the gyro analog value
Implements frc::Gyro.
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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.