Package edu.wpi.first.hal

Class AnalogGyroJNI

java.lang.Object

edu.wpi.first.hal.JNIWrapper

edu.wpi.first.hal.AnalogGyroJNI

public class AnalogGyroJNI
extends JNIWrapper

Analog Gyro JNI Functions.

See Also:

"hal/AnalogGyro.h"

Nested Class Summary

Nested classes/interfaces inherited from class edu.wpi.first.hal.JNIWrapper

JNIWrapper.Helper

Method Summary

Modifier and Type	Method	Description
static void	calibrateAnalogGyro(int handle)	Calibrates the analog gyro.
static void	freeAnalogGyro(int handle)	Frees an analog gyro.
static double	getAnalogGyroAngle(int handle)	Gets the gyro angle in degrees.
static int	getAnalogGyroCenter(int handle)	Gets the calibrated gyro center.
static double	getAnalogGyroOffset(int handle)	Gets the calibrated gyro offset.
static double	getAnalogGyroRate(int handle)	Gets the gyro rate in degrees/second.
static int	initializeAnalogGyro(int halAnalogInputHandle)	Initializes an analog gyro.
static void	resetAnalogGyro(int handle)	Resets the analog gyro value to 0.
static void	setAnalogGyroDeadband(int handle, double volts)	Sets the deadband of the analog gyro.
static void	setAnalogGyroParameters(int handle, double voltsPerDegreePerSecond, double offset, int center)	Sets the analog gyro parameters to the specified values.
static void	setAnalogGyroVoltsPerDegreePerSecond(int handle, double voltsPerDegreePerSecond)	Sets the analog gyro volts per degrees per second scaling.
static void	setupAnalogGyro(int handle)	Sets up an analog gyro with the proper offsets and settings for the KOP analog gyro.

Methods inherited from class edu.wpi.first.hal.JNIWrapper

forceLoad, suppressUnused

Methods inherited from class java.lang.Object

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

Method Details

initializeAnalogGyro

public static int initializeAnalogGyro(int halAnalogInputHandle)

Initializes an analog gyro.

Parameters:

halAnalogInputHandle - handle to the analog input port

Returns:

the initialized gyro handle

See Also:

"HAL_InitializeAnalogGyro"

setupAnalogGyro

public static void setupAnalogGyro(int handle)

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

Parameters:

handle - the gyro handle

See Also:

"HAL_SetupAnalogGyro"

freeAnalogGyro

public static void freeAnalogGyro(int handle)

Frees an analog gyro.

Parameters:

handle - the gyro handle

See Also:

"HAL_FreeAnalogGyro"

setAnalogGyroParameters

public static void setAnalogGyroParameters(int handle, double voltsPerDegreePerSecond, double offset, int center)

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:

handle - the gyro handle

voltsPerDegreePerSecond - the gyro volts scaling

offset - the gyro offset

center - the gyro center

See Also:

"HAL_SetAnalogGyroParameters"

setAnalogGyroVoltsPerDegreePerSecond

public static void setAnalogGyroVoltsPerDegreePerSecond(int handle, double voltsPerDegreePerSecond)

Sets the analog gyro volts per degrees per second scaling.

Parameters:

handle - the gyro handle

voltsPerDegreePerSecond - the gyro volts scaling

See Also:

"HAL_SetAnalogGyroVoltsPerDegreePerSecond"

resetAnalogGyro

public static void resetAnalogGyro(int handle)

Resets the analog gyro value to 0.

Parameters:

handle - the gyro handle

See Also:

"HAL_ResetAnalogGyro"

calibrateAnalogGyro

public static void calibrateAnalogGyro(int handle)

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:

handle - the gyro handle

See Also:

"HAL_CalibrateAnalogGyro"

setAnalogGyroDeadband

public static void setAnalogGyroDeadband(int handle, double volts)

Sets the deadband of the analog gyro.

Parameters:

handle - the gyro handle

volts - the voltage deadband

See Also:

"HAL_SetAnalogGyroDeadband"

getAnalogGyroAngle

public static double getAnalogGyroAngle(int handle)

Gets the gyro angle in degrees.

Parameters:

handle - the gyro handle

Returns:

the gyro angle in degrees

See Also:

"HAL_GetAnalogGyroAngle"

getAnalogGyroRate

public static double getAnalogGyroRate(int handle)

Gets the gyro rate in degrees/second.

Parameters:

handle - the gyro handle

Returns:

the gyro rate in degrees/second

See Also:

"HAL_GetAnalogGyroRate"

getAnalogGyroOffset

public static double getAnalogGyroOffset(int handle)

Gets the calibrated gyro offset.

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

Parameters:

handle - the gyro handle

Returns:

the gryo offset

See Also:

"HAL_GetAnalogGyroOffset"

getAnalogGyroCenter

public static int getAnalogGyroCenter(int handle)

Gets the calibrated gyro center.

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

Parameters:

handle - the gyro handle

Returns:

the gyro center

See Also:

"HAL_GetAnalogGyroCenter"