io.github.robolib.module.sensor

Class AnalogGyro

java.lang.Object

io.github.robolib.module.iface.Interface

io.github.robolib.module.iface.AnalogIO

io.github.robolib.module.iface.AnalogInput

io.github.robolib.module.sensor.AnalogGyro

All Implemented Interfaces:

AngleSource, LiveWindowSendable, NumberSource, PIDSource, RateSource, Sendable, UpdatingSendable, Module, SensorModule

public class AnalogGyro
extends AnalogInput
implements SensorModule, PIDSource, LiveWindowSendable, AngleSource, RateSource

Author:

noriah

Nested Class Summary

Nested classes/interfaces inherited from class io.github.robolib.module.iface.AnalogInput

AnalogInput.AccumulatorResult, AnalogInput.AnalogTriggerType

Nested classes/interfaces inherited from class io.github.robolib.module.iface.AnalogIO

AnalogIO.AnalogChannel, AnalogIO.Direction

Nested classes/interfaces inherited from class io.github.robolib.module.iface.Interface

Interface.InterfaceType

Nested classes/interfaces inherited from interface io.github.robolib.identifier.PIDSource

PIDSource.PIDSourceType

Field Summary

Fields

Modifier and Type	Field and Description
static int	AVERAGE_BITS
static double	CALIBRATE_SAMPLE_TIME
static double	DEF_VOLTAGE_PER_DEGREE
private int	m_center
private double	m_co
private double	m_offset
private AnalogInput.AccumulatorResult	m_results
private PIDSource.PIDSourceType	m_sType
private double	m_VperDperS
static int	OVERSAMPLE_BITS
static double	SAMPLE_RATE
static double	SAMPLES_PER_SEC

Fields inherited from class io.github.robolib.module.iface.AnalogInput

m_table

Fields inherited from class io.github.robolib.module.iface.AnalogIO

m_channel, m_port, m_portPointer

Fields inherited from class io.github.robolib.module.iface.Interface

m_ifaceType, MAX_ANALOG_IN_CHANNELS, MAX_ANALOG_OUT_CHANNELS, MAX_DIGITAL_CHANNELS, MAX_PWM_CHANNELS, MAX_RELAY_CHANNELS

Constructor Summary

Constructors

Constructor and Description
AnalogGyro(AnalogIO.AnalogChannel channel)

Method Summary

Modifier and Type	Method and Description
void	disableModule() Disable the module
void	enableModule() Enable the module
double	get() Get the value of this double source
double	getAngle() Return the actual angle in degrees that the robot is currently facing.
boolean	getModuleEnabled()
double	getRate() Return the rate of rotation of the gyro The rate is based on the most recent reading of the gyro analog value
java.lang.String	getSmartDashboardType() Live Window code, only does anything if live window is activated.
double	pidGet()
void	reset() Reset the gyro.
void	setDeadband(double volts) Set the size of the neutral zone.
void	setPIDSourceType(PIDSource.PIDSourceType sType) Set which parameter of the gyro you are using as a process control variable.
void	setSensitivity(double voltsPerDegreesPerSecond) Set the gyro sensitivity.
void	updateTable()

Methods inherited from class io.github.robolib.module.iface.AnalogInput

createTriggerOutput, free, getAccumulatorCount, getAccumulatorOutput, getAccumulatorValue, getAverageBits, getAverageValue, getAverageVoltage, getGlobalSampleRate, getInWindow, getLSBWeight, getOffset, getOversampleBits, getTable, getTriggerIndex, getTriggerState, getValue, getVoltage, initAccumulator, initTable, initTrigger, isAccumulatorChannel, resetAccumulator, setAccumulatorCenter, setAccumulatorDeadband, setAccumulatorInitialValue, setAverageBits, setAveraged, setFiltered, setGlobalSampleRate, setLimitsRaw, setLimitsVoltage, setOversampleBits, startLiveWindowMode, stopLiveWindowMode

Methods inherited from class io.github.robolib.module.iface.AnalogIO

getChannel, getChannelNumber

Methods inherited from class io.github.robolib.module.iface.Interface

allocateMXPPin, checkAnalogInputChannel, checkAnalogOutputChannel, checkDigitalChannel, checkPWMChannel, checkRelayChannel, freeMXPPin, getInterfaceType

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface io.github.robolib.identifier.LiveWindowSendable

startLiveWindowMode, stopLiveWindowMode

Methods inherited from interface io.github.robolib.identifier.Sendable

getTable, initTable

Field Detail

OVERSAMPLE_BITS

public static final int OVERSAMPLE_BITS

See Also:

Constant Field Values

AVERAGE_BITS

public static final int AVERAGE_BITS

See Also:

Constant Field Values

SAMPLES_PER_SEC

public static final double SAMPLES_PER_SEC

See Also:

Constant Field Values

SAMPLE_RATE

public static final double SAMPLE_RATE

See Also:

Constant Field Values

CALIBRATE_SAMPLE_TIME

public static final double CALIBRATE_SAMPLE_TIME

See Also:

Constant Field Values

DEF_VOLTAGE_PER_DEGREE

public static final double DEF_VOLTAGE_PER_DEGREE

See Also:

Constant Field Values

m_VperDperS

private double m_VperDperS

m_offset

private double m_offset

m_co

private double m_co

m_center

private int m_center

m_results

private AnalogInput.AccumulatorResult m_results

m_sType

private PIDSource.PIDSourceType m_sType

Constructor Detail

AnalogGyro

public AnalogGyro(AnalogIO.AnalogChannel channel)

Method Detail

reset

public void reset()

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.case DISTANCE:

getAngle

public double getAngle()

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 to 361 degrees. This allows algorithms that wouldn't want to see a discontinuity in the gyro output as it sweeps past from 360 to 0 on the second time around.

Specified by:

getAngle in interface AngleSource

Returns:

the current heading of the robot in degrees. This heading is based on integration of the returned rate from the gyro.

get

public double get()

Description copied from class: AnalogInput

Get the value of this double source

Specified by:

get in interface NumberSource

Overrides:

get in class AnalogInput

Returns:

the value of this double source.

getRate

public double getRate()

Return the rate of rotation of the gyro The rate is based on the most recent reading of the gyro analog value

Specified by:

getRate in interface RateSource

Returns:

the current rate in degrees per second

setSensitivity

public void setSensitivity(double voltsPerDegreesPerSecond)

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:

voltsPerDegreesPerSecond - The sensitivity in Volts/degree/second.

setDeadband

public void setDeadband(double 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:

volts - The size of the deadband in volts

setPIDSourceType

public void setPIDSourceType(PIDSource.PIDSourceType sType)

Set which parameter of the gyro you are using as a process control variable. The Gyro class supports the rate and angle parameters

Parameters:

sType - An enum to select the parameter.

pidGet

public double pidGet()

Specified by:

pidGet in interface PIDSource

getSmartDashboardType

public java.lang.String getSmartDashboardType()

Live Window code, only does anything if live window is activated.

Specified by:

getSmartDashboardType in interface Sendable

Overrides:

getSmartDashboardType in class AnalogInput

updateTable

public void updateTable()

Specified by:

updateTable in interface UpdatingSendable

Overrides:

updateTable in class AnalogInput

enableModule

public void enableModule()

Enable the module

Specified by:

enableModule in interface Module

disableModule

public void disableModule()

Disable the module

Specified by:

disableModule in interface Module

getModuleEnabled

public boolean getModuleEnabled()

Specified by:

getModuleEnabled in interface Module