83 lines
2.9 KiB
C++
83 lines
2.9 KiB
C++
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/*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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#pragma once
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#include "api.h"
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#include "okapi/api/control/controllerInput.hpp"
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#include "okapi/api/device/rotarysensor/continuousRotarySensor.hpp"
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namespace okapi {
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class ADIGyro : public ContinuousRotarySensor {
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public:
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/**
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* A gyroscope on the given ADI port. If the port has not previously been configured as a gyro,
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* then the constructor will block for 1 second for calibration. The gyro measures in tenths of a
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* degree, so there are ``3600`` measurement points per revolution.
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*
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* ```cpp
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* auto gyro = ADIGyro('A');
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* ```
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*
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* @param iport The ADI port number (``[1, 8]``, ``[a, h]``, ``[A, H]``).
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* @param imultiplier A value multiplied by the gyro heading value.
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*/
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ADIGyro(std::uint8_t iport, double imultiplier = 1);
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/**
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* A gyroscope on the given ADI port. If the port has not previously been configured as a gyro,
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* then the constructor will block for 1 second for calibration. The gyro measures in tenths of a
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* degree, so there are 3600 measurement points per revolution.
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*
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* ```cpp
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* auto gyro = ADIGyro({1, 'A'}, 1);
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* ```
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*
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* Note to developers: Keep the default value on imultiplier so that users get an error if they do
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* ADIGyro({1, 'A'}). Without it, this calls the non-ext-adi constructor.
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*
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* @param iports The ports the gyro is plugged in to in the order ``{smart port, gyro port}``. The
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* smart port is the smart port number (``[1, 21]``). The gyro port is the ADI port number (``[1,
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* 8]``, ``[a, h]``, ``[A, H]``).
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* @param imultiplier A value multiplied by the gyro heading value.
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*/
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ADIGyro(std::pair<std::uint8_t, std::uint8_t> iports, double imultiplier = 1);
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/**
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* Get the current sensor value.
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*
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* @return the current sensor value, or ``PROS_ERR`` on a failure.
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*/
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double get() const override;
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/**
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* Get the current sensor value remapped into the target range (``[-1800, 1800]`` by default).
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*
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* @param iupperBound the upper bound of the range.
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* @param ilowerBound the lower bound of the range.
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* @return the remapped sensor value.
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*/
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double getRemapped(double iupperBound = 1800, double ilowerBound = -1800) const;
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/**
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* Reset the sensor to zero.
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*
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* @return `1` on success, `PROS_ERR` on fail
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*/
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std::int32_t reset() override;
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/**
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* Get the sensor value for use in a control loop. This method might be automatically called in
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* another thread by the controller.
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*
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* @return the current sensor value, or ``PROS_ERR`` on a failure.
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*/
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double controllerGet() override;
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protected:
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pros::c::ext_adi_gyro_t gyro;
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};
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} // namespace okapi
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