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

double	GetRate () const
	Return the rate of rotation of the gyro. More...

void	Reset ()
	Reset the gyro. More...

void	Calibrate ()
	Calibrate the gyro by running for a number of samples and computing the center value. More...

Rotation2d	GetRotation2d () const
	Return the heading of the robot as a Rotation2d. 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 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 ( )

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.

◆ GetAngle()

double frc::ADXRS450_Gyro::GetAngle ( ) const

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.

◆ GetPort()

int frc::ADXRS450_Gyro::GetPort ( ) const

Get the SPI port number.

Returns: The SPI port number.

◆ GetRate()

double frc::ADXRS450_Gyro::GetRate ( ) const

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

◆ GetRotation2d()

Rotation2d frc::ADXRS450_Gyro::GetRotation2d ( ) const

Return the heading of the robot as a Rotation2d.

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.

The angle is expected to increase as the gyro turns counterclockwise when looked at from the top. It needs to follow the NWU axis convention.

Returns: the current heading of the robot as a Rotation2d. This heading is based on integration of the returned rate from the 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 && )