110 lines
3.0 KiB
C++
110 lines
3.0 KiB
C++
/*
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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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enum class IMUAxes {
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z, ///< Yaw Axis
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y, ///< Pitch Axis
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x ///< Roll Axis
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};
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class IMU : public ContinuousRotarySensor {
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public:
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/**
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* An inertial sensor on the given port. The IMU returns an angle about the selected axis in
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* degrees.
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*
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* ```cpp
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* auto imuZ = IMU(1);
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* auto imuX = IMU(1, IMUAxes::x);
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* ```
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*
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* @param iport The port number in the range ``[1, 21]``.
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* @param iaxis The axis of the inertial sensor to measure, default `IMUAxes::z`.
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*/
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IMU(std::uint8_t iport, IMUAxes iaxis = IMUAxes::z);
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/**
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* Get the current rotation about the configured axis.
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*
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* @return The current sensor value or ``PROS_ERR``.
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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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* Get the current acceleration along the configured axis.
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*
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* @return The current sensor value or ``PROS_ERR``.
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*/
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double getAcceleration() const;
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/**
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* Reset the rotation value to zero.
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*
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* @return ``1`` or ``PROS_ERR``.
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*/
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std::int32_t reset() override;
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/**
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* Resets rotation value to desired value
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* For example, ``reset(0)`` will reset the sensor to zero.
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* But ``reset(90)`` will reset the sensor to 90 degrees.
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*
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* @param inewAngle desired reset value
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* @return ``1`` or ``PROS_ERR``.
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*/
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std::int32_t reset(double inewAngle);
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/**
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* Calibrate the IMU. Resets the rotation value to zero. Calibration is expected to take two
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* seconds, but is bounded to five seconds.
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*
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* @return ``1`` or ``PROS_ERR``.
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*/
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std::int32_t calibrate();
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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``.
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*/
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double controllerGet() override;
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/**
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* @return Whether the IMU is calibrating.
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*/
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bool isCalibrating() const;
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protected:
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std::uint8_t port;
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IMUAxes axis;
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double offset = 0;
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/**
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* Get the current rotation about the configured axis. The internal offset is not accounted for
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* or modified. This just reads from the sensor.
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*
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* @return The current sensor value or ``PROS_ERR``.
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*/
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double readAngle() const;
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};
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} // namespace okapi
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