WPILibC++  2021.3.1
frc::ADXRS450_Gyro Class Reference

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

#include <frc/ADXRS450_Gyro.h>

Inheritance diagram for frc::ADXRS450_Gyro:
frc::GyroBase frc::Gyro frc::ErrorBase frc::PIDSource frc::Sendable frc::SendableHelper< GyroBase >

Public Member Functions

 ADXRS450_Gyro ()
 Gyro constructor on onboard CS0.
 
 ADXRS450_Gyro (SPI::Port port)
 Gyro constructor on the specified SPI port. More...
 
 ADXRS450_Gyro (ADXRS450_Gyro &&)=default
 
ADXRS450_Gyrooperator= (ADXRS450_Gyro &&)=default
 
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 () final
 Initialize the gyro. More...
 
int GetPort () const
 Get the SPI port number. More...
 
- Public Member Functions inherited from frc::GyroBase
 GyroBase (GyroBase &&)=default
 
GyroBaseoperator= (GyroBase &&)=default
 
double PIDGet () override
 Get the PIDOutput for the PIDSource base object. More...
 
void InitSendable (SendableBuilder &builder) override
 Initializes this Sendable object. More...
 
- Public Member Functions inherited from frc::Gyro
 Gyro (Gyro &&)=default
 
Gyrooperator= (Gyro &&)=default
 
virtual Rotation2d GetRotation2d () const
 Return the heading of the robot as a Rotation2d. More...
 
- Public Member Functions inherited from frc::ErrorBase
 ErrorBase (const ErrorBase &)=default
 
ErrorBaseoperator= (const ErrorBase &)=default
 
 ErrorBase (ErrorBase &&)=default
 
ErrorBaseoperator= (ErrorBase &&)=default
 
virtual ErrorGetError ()
 Retrieve the current error. More...
 
virtual const ErrorGetError () const
 Retrieve the current error. More...
 
virtual void ClearError () const
 Clear the current error information associated with this sensor.
 
virtual void SetErrnoError (const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::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, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated from the nivision Imaq API. More...
 
virtual void SetError (Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::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, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetWPIError (const wpi::Twine &errorMessage, Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void CloneError (const ErrorBase &rhs) const
 
virtual bool StatusIsFatal () const
 Check if the current error code represents a fatal error. More...
 
void ClearGlobalErrors ()
 Clear global errors.
 
- Public Member Functions inherited from frc::PIDSource
virtual void SetPIDSourceType (PIDSourceType pidSource)
 Set which parameter you are using as a process control variable. More...
 
virtual PIDSourceType GetPIDSourceType () const
 
- Public Member Functions inherited from frc::SendableHelper< GyroBase >
 SendableHelper (const SendableHelper &rhs)=default
 
 SendableHelper (SendableHelper &&rhs)
 
SendableHelperoperator= (const SendableHelper &rhs)=default
 
SendableHelperoperator= (SendableHelper &&rhs)
 
std::string GetName () const
 Gets the name of this Sendable object. More...
 
void SetName (const wpi::Twine &name)
 Sets the name of this Sendable object. More...
 
void SetName (const wpi::Twine &subsystem, const wpi::Twine &name)
 Sets both the subsystem name and device name of this Sendable object. More...
 
std::string GetSubsystem () const
 Gets the subsystem name of this Sendable object. More...
 
void SetSubsystem (const wpi::Twine &subsystem)
 Sets the subsystem name of this Sendable object. More...
 

Additional Inherited Members

- Static Public Member Functions inherited from frc::ErrorBase
static void SetGlobalError (Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber)
 
static void SetGlobalWPIError (const wpi::Twine &errorMessage, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber)
 
static Error GetGlobalError ()
 Retrieve the last global error.
 
static std::vector< ErrorGetGlobalErrors ()
 Retrieve all global errors.
 
- Protected Member Functions inherited from frc::SendableHelper< GyroBase >
void SetName (const wpi::Twine &moduleType, int channel)
 Sets the name of the sensor with a channel number. More...
 
void SetName (const wpi::Twine &moduleType, int moduleNumber, int channel)
 Sets the name of the sensor with a module and channel number. More...
 
void AddChild (std::shared_ptr< Sendable > child)
 Add a child component. More...
 
void AddChild (void *child)
 Add a child component. More...
 
- Protected Attributes inherited from frc::ErrorBase
Error m_error
 
- Protected Attributes inherited from frc::PIDSource
PIDSourceType m_pidSource = PIDSourceType::kDisplacement
 

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. Only one instance of an ADXRS Gyro is supported.

Constructor & Destructor Documentation

◆ ADXRS450_Gyro()

frc::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

◆ Calibrate()

void frc::ADXRS450_Gyro::Calibrate ( )
finalvirtual

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.

◆ GetAngle()

double frc::ADXRS450_Gyro::GetAngle ( ) const
overridevirtual

Return the actual angle in degrees that the robot is currently facing.

The angle is based on integration of the returned rate from the gyro. 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.

Implements frc::Gyro.

◆ GetPort()

int frc::ADXRS450_Gyro::GetPort ( ) const

Get the SPI port number.

Returns
The SPI port number.

◆ GetRate()

double frc::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.

Returns
the current rate in degrees per second

Implements frc::Gyro.

◆ Reset()

void frc::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 file: