Analog Gyro Functions

Functions
HAL_GyroHandle	HAL_InitializeAnalogGyro (HAL_AnalogInputHandle handle, const char *allocationLocation, int32_t *status)
	Initializes an analog gyro. More...
void	HAL_SetupAnalogGyro (HAL_GyroHandle handle, int32_t *status)
	Sets up an analog gyro with the proper offsets and settings for the KOP analog gyro. More...
void	HAL_FreeAnalogGyro (HAL_GyroHandle handle)
	Frees an analog gyro. More...
void	HAL_SetAnalogGyroParameters (HAL_GyroHandle handle, double voltsPerDegreePerSecond, double offset, int32_t center, int32_t *status)
	Sets the analog gyro parameters to the specified values. More...
void	HAL_SetAnalogGyroVoltsPerDegreePerSecond (HAL_GyroHandle handle, double voltsPerDegreePerSecond, int32_t *status)
	Sets the analog gyro volts per degrees per second scaling. More...
void	HAL_ResetAnalogGyro (HAL_GyroHandle handle, int32_t *status)
	Resets the analog gyro value to 0. More...
void	HAL_CalibrateAnalogGyro (HAL_GyroHandle handle, int32_t *status)
	Calibrates the analog gyro. More...
void	HAL_SetAnalogGyroDeadband (HAL_GyroHandle handle, double volts, int32_t *status)
	Sets the deadband of the analog gyro. More...
double	HAL_GetAnalogGyroAngle (HAL_GyroHandle handle, int32_t *status)
	Gets the gyro angle in degrees. More...
double	HAL_GetAnalogGyroRate (HAL_GyroHandle handle, int32_t *status)
	Gets the gyro rate in degrees/second. More...
double	HAL_GetAnalogGyroOffset (HAL_GyroHandle handle, int32_t *status)
	Gets the calibrated gyro offset. More...
int32_t	HAL_GetAnalogGyroCenter (HAL_GyroHandle handle, int32_t *status)
	Gets the calibrated gyro center. More...

Detailed Description

Function Documentation

HAL_CalibrateAnalogGyro()

void HAL_CalibrateAnalogGyro	(	HAL_GyroHandle	handle,
		int32_t *	status
	)

Calibrates the analog gyro.

This happens by calculating the average value of the gyro over 5 seconds, and setting that as the center. Note that this call blocks for 5 seconds to perform this.

Parameters

[in]	handle	the gyro handle
[out]	status	Error status variable. 0 on success.

HAL_FreeAnalogGyro()

void HAL_FreeAnalogGyro

(

HAL_GyroHandle

handle

)

Frees an analog gyro.

Parameters

[in,out]

handle

the gyro handle

HAL_GetAnalogGyroAngle()

double HAL_GetAnalogGyroAngle	(	HAL_GyroHandle	handle,
		int32_t *	status
	)

Gets the gyro angle in degrees.

Parameters

[in]	handle	the gyro handle
[out]	status	Error status variable. 0 on success.

Returns

the gyro angle in degrees

HAL_GetAnalogGyroCenter()

int32_t HAL_GetAnalogGyroCenter	(	HAL_GyroHandle	handle,
		int32_t *	status
	)

Gets the calibrated gyro center.

Can be used to not repeat a calibration but reconstruct the gyro object.

Parameters

[in]	handle	the gyro handle
[out]	status	Error status variable. 0 on success.

Returns

the gyro center

HAL_GetAnalogGyroOffset()

double HAL_GetAnalogGyroOffset	(	HAL_GyroHandle	handle,
		int32_t *	status
	)

Gets the calibrated gyro offset.

Can be used to not repeat a calibration but reconstruct the gyro object.

Parameters

[in]	handle	the gyro handle
[out]	status	Error status variable. 0 on success.

Returns

the gryo offset

HAL_GetAnalogGyroRate()

double HAL_GetAnalogGyroRate	(	HAL_GyroHandle	handle,
		int32_t *	status
	)

Gets the gyro rate in degrees/second.

Parameters

[in]	handle	the gyro handle
[out]	status	Error status variable. 0 on success.

Returns

the gyro rate in degrees/second

HAL_InitializeAnalogGyro()

HAL_GyroHandle HAL_InitializeAnalogGyro	(	HAL_AnalogInputHandle	handle,
		const char *	allocationLocation,
		int32_t *	status
	)

Initializes an analog gyro.

Parameters

[in]	handle	handle to the analog input port
[in]	allocationLocation	the location where the allocation is occurring (can be null)
[out]	status	the error code, or 0 for success

Returns

the initialized gyro handle

HAL_ResetAnalogGyro()

void HAL_ResetAnalogGyro	(	HAL_GyroHandle	handle,
		int32_t *	status
	)

Resets the analog gyro value to 0.

Parameters

[in]	handle	the gyro handle
[out]	status	the error code, or 0 for success

HAL_SetAnalogGyroDeadband()

void HAL_SetAnalogGyroDeadband	(	HAL_GyroHandle	handle,
		double	volts,
		int32_t *	status
	)

Sets the deadband of the analog gyro.

Parameters

[in]	handle	the gyro handle
[in]	volts	the voltage deadband
[out]	status	Error status variable. 0 on success.

HAL_SetAnalogGyroParameters()

void HAL_SetAnalogGyroParameters	(	HAL_GyroHandle	handle,
		double	voltsPerDegreePerSecond,
		double	offset,
		int32_t	center,
		int32_t *	status
	)

Sets the analog gyro parameters to the specified values.

This is meant to be used if you want to reuse the values from a previous calibration.

Parameters

[in]	handle	the gyro handle
[in]	voltsPerDegreePerSecond	the gyro volts scaling
[in]	offset	the gyro offset
[in]	center	the gyro center
[out]	status	the error code, or 0 for success

HAL_SetAnalogGyroVoltsPerDegreePerSecond()

void HAL_SetAnalogGyroVoltsPerDegreePerSecond	(	HAL_GyroHandle	handle,
		double	voltsPerDegreePerSecond,
		int32_t *	status
	)

Sets the analog gyro volts per degrees per second scaling.

Parameters

[in]	handle	the gyro handle
[in]	voltsPerDegreePerSecond	the gyro volts scaling
[out]	status	the error code, or 0 for success

HAL_SetupAnalogGyro()

void HAL_SetupAnalogGyro	(	HAL_GyroHandle	handle,
		int32_t *	status
	)

Sets up an analog gyro with the proper offsets and settings for the KOP analog gyro.

Parameters

[in]	handle	the gyro handle
[out]	status	the error code, or 0 for success