Package edu.wpi.first.hal

Class AnalogGyroJNI

java.lang.Object
edu.wpi.first.hal.JNIWrapper
edu.wpi.first.hal.AnalogGyroJNI
public class AnalogGyroJNI
extends JNIWrapper
Analog Gyro JNI Functions.
See Also:
"hal/AnalogGyro.h"

  • Constructor Details

  • Method Details

    • initializeAnalogGyro

      public static int initializeAnalogGyro​(int halAnalogInputHandle)
      Initializes an analog gyro.
      Parameters:
      halAnalogInputHandle - handle to the analog input port
      Returns:
      the initialized gyro handle
      See Also:
      "HAL_InitializeAnalogGyro"

    • setupAnalogGyro

      public static void setupAnalogGyro​(int handle)
      Sets up an analog gyro with the proper offsets and settings for the KOP analog gyro.
      Parameters:
      handle - the gyro handle
      See Also:
      "HAL_SetupAnalogGyro"

    • freeAnalogGyro

      public static void freeAnalogGyro​(int handle)
      Frees an analog gyro.
      Parameters:
      handle - the gyro handle
      See Also:
      "HAL_FreeAnalogGyro"

    • setAnalogGyroParameters

      public static void setAnalogGyroParameters​(int handle, double voltsPerDegreePerSecond, double offset, int center)
      Sets the analog gyro parameters to the specified values.

      This is meant to be used if you want to reuse the values from a previous calibration.

      Parameters:
      handle - the gyro handle
      voltsPerDegreePerSecond - the gyro volts scaling
      offset - the gyro offset
      center - the gyro center
      See Also:
      "HAL_SetAnalogGyroParameters"

    • setAnalogGyroVoltsPerDegreePerSecond

      public static void setAnalogGyroVoltsPerDegreePerSecond​(int handle, double voltsPerDegreePerSecond)
      Sets the analog gyro volts per degrees per second scaling.
      Parameters:
      handle - the gyro handle
      voltsPerDegreePerSecond - the gyro volts scaling
      See Also:
      "HAL_SetAnalogGyroVoltsPerDegreePerSecond"

    • resetAnalogGyro

      public static void resetAnalogGyro​(int handle)
      Resets the analog gyro value to 0.
      Parameters:
      handle - the gyro handle
      See Also:
      "HAL_ResetAnalogGyro"

    • calibrateAnalogGyro

      public static void calibrateAnalogGyro​(int handle)
      Calibrates the analog gyro.

      This happens by calculating the average value of the gyro over 5 seconds, and setting that as the center. Note that this call blocks for 5 seconds to perform this.

      Parameters:
      handle - the gyro handle
      See Also:
      "HAL_CalibrateAnalogGyro"

    • setAnalogGyroDeadband

      public static void setAnalogGyroDeadband​(int handle, double volts)
      Sets the deadband of the analog gyro.
      Parameters:
      handle - the gyro handle
      volts - the voltage deadband
      See Also:
      "HAL_SetAnalogGyroDeadband"

    • getAnalogGyroAngle

      public static double getAnalogGyroAngle​(int handle)
      Gets the gyro angle in degrees.
      Parameters:
      handle - the gyro handle
      Returns:
      the gyro angle in degrees
      See Also:
      "HAL_GetAnalogGyroAngle"

    • getAnalogGyroRate

      public static double getAnalogGyroRate​(int handle)
      Gets the gyro rate in degrees/second.
      Parameters:
      handle - the gyro handle
      Returns:
      the gyro rate in degrees/second
      See Also:
      "HAL_GetAnalogGyroRate"

    • getAnalogGyroOffset

      public static double getAnalogGyroOffset​(int handle)
      Gets the calibrated gyro offset.

      Can be used to not repeat a calibration but reconstruct the gyro object.

      Parameters:
      handle - the gyro handle
      Returns:
      the gryo offset
      See Also:
      "HAL_GetAnalogGyroOffset"

    • getAnalogGyroCenter

      public static int getAnalogGyroCenter​(int handle)
      Gets the calibrated gyro center.

      Can be used to not repeat a calibration but reconstruct the gyro object.

      Parameters:
      handle - the gyro handle
      Returns:
      the gyro center
      See Also:
      "HAL_GetAnalogGyroCenter"