#include <Gyro.h>

Inheritance diagram for Gyro:

Collaboration diagram for Gyro:

Public Member Functions
	Gyro (uint8_t moduleNumber, uint32_t channel)

	Gyro (uint32_t channel)

	Gyro (AnalogChannel *channel)

	Gyro (AnalogChannel &channel)

virtual	~Gyro ()

virtual float	GetAngle ()

virtual double	GetRate ()

void	SetSensitivity (float voltsPerDegreePerSecond)

void	SetPIDSourceParameter (PIDSourceParameter pidSource)

virtual void	Reset ()

double	PIDGet ()

void	UpdateTable ()

void	StartLiveWindowMode ()

void	StopLiveWindowMode ()

std::string	GetSmartDashboardType ()

void	InitTable (ITable *subTable)

ITable *	GetTable ()

Public Member Functions inherited from SensorBase
	SensorBase ()

virtual	~SensorBase ()

Public Member Functions inherited from ErrorBase
virtual Error &	GetError ()
	Retrieve the current error. Get the current error information associated with this sensor.

virtual const Error &	GetError () const

virtual void	SetErrnoError (const char contextMessage, const char filename, const char *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, const char contextMessage, const char filename, const char *function, uint32_t lineNumber) const
	Set the current error information associated from the nivision Imaq API. More...

virtual void	SetError (Error::Code code, const char contextMessage, const char filename, const char *function, uint32_t lineNumber) const
	Set the current error information associated with this sensor. More...

virtual void	SetWPIError (const char errorMessage, const char contextMessage, const char filename, const char function, uint32_t lineNumber) const
	Set the current error information associated with this sensor. More...

virtual void	CloneError (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...

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	kSystemClockTicksPerMicrosecond = 40

static const uint32_t	kDigitalChannels = 14

static const uint32_t	kAnalogChannels = 8

static const uint32_t	kAnalogModules = 2

static const uint32_t	kDigitalModules = 2

static const uint32_t	kSolenoidChannels = 8

static const uint32_t	kSolenoidModules = 2

static const uint32_t	kPwmChannels = 10

static const uint32_t	kRelayChannels = 8

static const uint32_t	kChassisSlots = 8

Additional Inherited Members
Public Types inherited from PIDSource
enum	PIDSourceParameter { kDistance, kRate, kAngle }

Static Public Member Functions inherited from SensorBase
static void	DeleteSingletons ()

static uint32_t	GetDefaultAnalogModule ()

static uint32_t	GetDefaultDigitalModule ()

static uint32_t	GetDefaultSolenoidModule ()

static bool	CheckAnalogModule (uint8_t moduleNumber)

static bool	CheckDigitalModule (uint8_t moduleNumber)

static bool	CheckPWMModule (uint8_t moduleNumber)

static bool	CheckRelayModule (uint8_t moduleNumber)

static bool	CheckSolenoidModule (uint8_t moduleNumber)

static bool	CheckDigitalChannel (uint32_t channel)

static bool	CheckRelayChannel (uint32_t channel)

static bool	CheckPWMChannel (uint32_t channel)

static bool	CheckAnalogChannel (uint32_t channel)

static bool	CheckSolenoidChannel (uint32_t channel)

Static Public Member Functions inherited from ErrorBase
static void	SetGlobalError (Error::Code code, const char contextMessage, const char filename, const char *function, uint32_t lineNumber)

static void	SetGlobalWPIError (const char errorMessage, const char contextMessage, const char filename, const char function, uint32_t lineNumber)

static Error &	GetGlobalError ()

Protected Member Functions inherited from SensorBase
void	AddToSingletonList ()

Protected Member Functions inherited from ErrorBase
	ErrorBase ()
	Initialize the instance status to 0 for now.

Protected Attributes inherited from ErrorBase
Error	m_error

Static Protected Attributes inherited from ErrorBase
static SEM_ID	_globalErrorMutex = semMCreate(SEM_Q_PRIORITY \| SEM_DELETE_SAFE \| SEM_INVERSION_SAFE)

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 AnalogChannel for the current accumulator assignments.

Definition at line 27 of file Gyro.h.

Constructor & Destructor Documentation

Gyro::Gyro	(	uint8_t	moduleNumber,
		uint32_t	channel
	)

Gyro constructor given a slot and a channel.

Parameters

moduleNumber	The analog module the gyro is connected to (1).
channel	The analog channel the gyro is connected to (1 or 2).

Definition at line 79 of file Gyro.cpp.

Gyro::Gyro ( uint32_t channel )

explicit

Gyro constructor with only a channel.

Use the default analog module slot.

Parameters

channel The analog channel the gyro is connected to.

Definition at line 93 of file Gyro.cpp.

Gyro::Gyro ( AnalogChannel * channel )

explicit

Gyro constructor with a precreated analog channel object. Use this constructor when the analog channel needs to be shared. There is no reference counting when an AnalogChannel is passed to the gyro.

Parameters

channel The AnalogChannel object that the gyro is connected to.

Definition at line 106 of file Gyro.cpp.

Gyro::~Gyro ( )

virtual

Delete (free) the accumulator and the analog components used for the gyro.

Definition at line 140 of file Gyro.cpp.

Member Function Documentation

float Gyro::GetAngle ( void )

virtual

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 can go beyond 360 degrees. This make algorithms that wouldn't want to see a discontinuity in the gyro output as it sweeps past 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.

Definition at line 157 of file Gyro.cpp.

double Gyro::GetRate ( void )

virtual

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

Definition at line 179 of file Gyro.cpp.

std::string Gyro::GetSmartDashboardType ( )

virtual

Returns: the string representation of the named data type that will be used by the smart dashboard for this sendable

Implements Sendable.

Definition at line 236 of file Gyro.cpp.

ITable * Gyro::GetTable ( )

virtual

Returns: the table that is currently associated with the sendable

Implements Sendable.

Definition at line 245 of file Gyro.cpp.

void Gyro::InitTable ( ITable * subtable )

virtual

Initializes a table for this sendable object.

Parameters

subtable The table to put the values in.

Implements Sendable.

Definition at line 240 of file Gyro.cpp.

double Gyro::PIDGet ( )

virtual

Get the angle in degrees for the PIDSource base object.

Returns: The angle in degrees.

Implements PIDSource.

Definition at line 210 of file Gyro.cpp.

void Gyro::Reset ( )

virtual

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.

Definition at line 132 of file Gyro.cpp.

void Gyro::SetSensitivity ( float voltsPerDegreePerSecond )

Set the gyro type based on the 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.

Parameters

voltsPerDegreePerSecond The type of gyro specified as the voltage that represents one degree/second.

Definition at line 193 of file Gyro.cpp.

void Gyro::StartLiveWindowMode ( )

virtual

Start having this sendable object automatically respond to value changes reflect the value on the table.

Implements LiveWindowSendable.

Definition at line 228 of file Gyro.cpp.

void Gyro::StopLiveWindowMode ( )

virtual

Stop having this sendable object automatically respond to value changes.

Implements LiveWindowSendable.

Definition at line 232 of file Gyro.cpp.

void Gyro::UpdateTable ( )

virtual

Update the table for this sendable object with the latest values.

Implements LiveWindowSendable.

Definition at line 222 of file Gyro.cpp.

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

Public Member Functions

Static Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation