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AnalogGyro Class Reference

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

#include <AnalogGyro.h>

Inheritance diagram for AnalogGyro:
GyroBase Gyro SensorBase PIDSource LiveWindowSendable ErrorBase Sendable

Public Member Functions

 AnalogGyro (int32_t channel)
 Gyro constructor using the Analog Input channel number. More...
 
 AnalogGyro (AnalogInput *channel)
 Gyro constructor with a precreated AnalogInput object. More...
 
 AnalogGyro (std::shared_ptr< AnalogInput > channel)
 Gyro constructor with a precreated AnalogInput object. More...
 
 AnalogGyro (int32_t channel, uint32_t center, float offset)
 Gyro constructor using the Analog Input channel number with parameters for presetting the center and offset values. More...
 
 AnalogGyro (std::shared_ptr< AnalogInput > channel, uint32_t center, float offset)
 Gyro constructor with a precreated AnalogInput object and calibrated parameters. More...
 
float 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...
 
virtual uint32_t GetCenter () const
 Return the gyro center value. More...
 
virtual float GetOffset () const
 Return the gyro offset value. More...
 
void SetSensitivity (float voltsPerDegreePerSecond)
 Set the gyro sensitivity. More...
 
void SetDeadband (float volts)
 Set the size of the neutral zone. More...
 
void Reset () override
 Reset the gyro. More...
 
virtual void InitGyro ()
 Initialize the gyro. More...
 
void Calibrate () override
 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.
 
- Public Member Functions inherited from 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 SensorBase
 SensorBase ()
 Creates an instance of the sensor base and gets an FPGA handle.
 
 SensorBase (const SensorBase &)=delete
 
SensorBaseoperator= (const SensorBase &)=delete
 
- Public Member Functions inherited from 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, uint32_t 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, uint32_t 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, uint32_t 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, uint32_t 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 PIDSource
virtual void SetPIDSourceType (PIDSourceType pidSource)
 Set which parameter you are using as a process control variable. More...
 
PIDSourceType GetPIDSourceType () const
 

Static Public Attributes

static const uint32_t kOversampleBits = 10
 
static const uint32_t kAverageBits = 0
 
static constexpr float kSamplesPerSecond = 50.0
 
static constexpr float kCalibrationSampleTime = 5.0
 
static constexpr float kDefaultVoltsPerDegreePerSecond = 0.007
 
- Static Public Attributes inherited from SensorBase
static const uint32_t kDigitalChannels = 26
 
static const uint32_t kAnalogInputs = 8
 
static const uint32_t kAnalogOutputs = 2
 
static const uint32_t kSolenoidChannels = 8
 
static const uint32_t kSolenoidModules = 2
 
static const uint32_t kPwmChannels = 20
 
static const uint32_t kRelayChannels = 8
 
static const uint32_t kPDPChannels = 16
 
static const uint32_t kChassisSlots = 8
 

Protected Attributes

std::shared_ptr< AnalogInputm_analog
 
- Protected Attributes inherited from ErrorBase
Error m_error
 
- Protected Attributes inherited from PIDSource
PIDSourceType m_pidSource = PIDSourceType::kDisplacement
 

Additional Inherited Members

- Static Public Member Functions inherited from SensorBase
static void DeleteSingletons ()
 Delete all the singleton classes on the list. More...
 
static uint32_t GetDefaultSolenoidModule ()
 
static bool CheckSolenoidModule (uint8_t moduleNumber)
 Check that the solenoid module number is valid. More...
 
static bool CheckDigitalChannel (uint32_t channel)
 Check that the digital channel number is valid. More...
 
static bool CheckRelayChannel (uint32_t channel)
 Check that the digital channel number is valid. More...
 
static bool CheckPWMChannel (uint32_t channel)
 Check that the digital channel number is valid. More...
 
static bool CheckAnalogInput (uint32_t channel)
 Check that the analog input number is value. More...
 
static bool CheckAnalogOutput (uint32_t channel)
 Check that the analog output number is valid. More...
 
static bool CheckSolenoidChannel (uint32_t channel)
 Verify that the solenoid channel number is within limits. More...
 
static bool CheckPDPChannel (uint32_t channel)
 Verify that the power distribution channel number is within limits. More...
 
- Static Public Member Functions inherited from ErrorBase
static void SetGlobalError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber)
 
static void SetGlobalWPIError (llvm::StringRef errorMessage, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber)
 
static ErrorGetGlobalError ()
 Retrieve the current global error.
 
- Protected Member Functions inherited from SensorBase
void AddToSingletonList ()
 Add sensor to the singleton list. More...
 
- Static Protected Attributes inherited from SensorBase
static void * m_digital_ports [kDigitalChannels]
 
static void * m_relay_ports [kRelayChannels]
 
static void * m_pwm_ports [kPwmChannels]
 
- Static Protected Attributes inherited from ErrorBase
static 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 gyro class must be used with a channel that is assigned one of the Analog accumulators from the FPGA. See AnalogInput for the current accumulator assignments.

This class is for gyro sensors that connect to an analog input.

Constructor & Destructor Documentation

AnalogGyro::AnalogGyro ( int32_t  channel)
explicit

Gyro constructor using the Analog Input channel number.

Parameters
channelThe analog channel the gyro is connected to. Gyros can only be used on on-board Analog Inputs 0-1.
AnalogGyro::AnalogGyro ( AnalogInput channel)
explicit

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.

Parameters
channelA pointer to the AnalogInput object that the gyro is connected to.
AnalogGyro::AnalogGyro ( std::shared_ptr< AnalogInput channel)
explicit

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

Parameters
channelA pointer to the AnalogInput object that the gyro is connected to.
AnalogGyro::AnalogGyro ( int32_t  channel,
uint32_t  center,
float  offset 
)

Gyro constructor using the Analog Input channel number with parameters for presetting the center and offset values.

Bypasses calibration.

Parameters
channelThe analog channel the gyro is connected to. Gyros can only be used on on-board Analog Inputs 0-1.
centerPreset uncalibrated value to use as the accumulator center value.
offsetPreset uncalibrated value to use as the gyro offset.
AnalogGyro::AnalogGyro ( std::shared_ptr< AnalogInput channel,
uint32_t  center,
float  offset 
)

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

Parameters
channelA pointer to the AnalogInput object that the gyro is connected to.

Member Function Documentation

float AnalogGyro::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 Gyro.

uint32_t AnalogGyro::GetCenter ( ) const
virtual

Return the gyro center value.

If run after calibration, the center value can be used as a preset later.

Returns
the current center value
float AnalogGyro::GetOffset ( ) const
virtual

Return the gyro offset value.

If run after calibration, the offset value can be used as a preset later.

Returns
the current offset value
double AnalogGyro::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 Gyro.

void AnalogGyro::InitGyro ( )
virtual

Initialize the gyro.

Calibration is handled by Calibrate().

void AnalogGyro::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 Gyro.

void AnalogGyro::SetDeadband ( float  volts)

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.

Parameters
voltsThe size of the deadband in volts
void AnalogGyro::SetSensitivity ( float  voltsPerDegreePerSecond)

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.

Parameters
voltsPerDegreePerSecondThe sensitivity in Volts/degree/second

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