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:

Public Member Functions
	ADXRS450_Gyro ()
	Gyro constructor on onboard CS0. More...
	ADXRS450_Gyro (SPI::Port port)
	Gyro constructor on the specified SPI port. More...
	~ADXRS450_Gyro () override=default
	ADXRS450_Gyro (ADXRS450_Gyro &&)=default
ADXRS450_Gyro &	operator= (ADXRS450_Gyro &&)=default
bool	IsConnected () const
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...
void	InitSendable (wpi::SendableBuilder &builder) override
	Initializes this Sendable object. More...
Public Member Functions inherited from frc::Gyro
	Gyro ()=default
virtual	~Gyro ()=default
	Gyro (Gyro &&)=default
Gyro &	operator= (Gyro &&)=default
virtual void	Calibrate ()=0
	Calibrate the gyro. More...
virtual void	Reset ()=0
	Reset the gyro. More...
virtual double	GetAngle () const =0
	Return the heading of the robot in degrees. More...
virtual double	GetRate () const =0
	Return the rate of rotation of the gyro. More...
virtual Rotation2d	GetRotation2d () const
	Return the heading of the robot as a Rotation2d. More...
Public Member Functions inherited from wpi::Sendable
virtual	~Sendable ()=default
virtual void	InitSendable (SendableBuilder &builder)=0
	Initializes this Sendable object. More...
Public Member Functions inherited from wpi::SendableHelper< ADXRS450_Gyro >
	SendableHelper (const SendableHelper &rhs)=default
	SendableHelper (SendableHelper &&rhs)
SendableHelper &	operator= (const SendableHelper &rhs)=default
SendableHelper &	operator= (SendableHelper &&rhs)

Additional Inherited Members
Protected Member Functions inherited from wpi::SendableHelper< ADXRS450_Gyro >
	SendableHelper ()=default
	~SendableHelper ()

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() [1/3]

frc::ADXRS450_Gyro::ADXRS450_Gyro

(

)

Gyro constructor on onboard CS0.

ADXRS450_Gyro() [2/3]

frc::ADXRS450_Gyro::ADXRS450_Gyro ( SPI::Port  port )

explicit

Gyro constructor on the specified SPI port.

Parameters

port	The SPI port the gyro is attached to.

~ADXRS450_Gyro()

frc::ADXRS450_Gyro::~ADXRS450_Gyro ( )

overridedefault

ADXRS450_Gyro() [3/3]

frc::ADXRS450_Gyro::ADXRS450_Gyro ( ADXRS450_Gyro &&  )

default

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.

InitSendable()

void frc::ADXRS450_Gyro::InitSendable ( wpi::SendableBuilder &  builder )

overridevirtual

Initializes this Sendable object.

Parameters

builder

sendable builder

Implements wpi::Sendable.

IsConnected()

bool frc::ADXRS450_Gyro::IsConnected

(

)

const

operator=()

ADXRS450_Gyro & frc::ADXRS450_Gyro::operator= ( ADXRS450_Gyro &&  )

default

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.

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

• frc/ADXRS450_Gyro.h