Gyro.h

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved.                                                         */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/

#ifndef GYRO_H_
#define GYRO_H_

#include "SensorBase.h"
#include "PIDSource.h"

class AnalogChannel;
class AnalogModule;

class Gyro : public SensorBase, public PIDSource
{
public:
        static const UINT32 kOversampleBits = 10;
        static const UINT32 kAverageBits = 0;
        static const float kSamplesPerSecond = 50.0;
        static const float kCalibrationSampleTime = 5.0;
        static const float kDefaultVoltsPerDegreePerSecond = 0.007;

        Gyro(UINT8 moduleNumber, UINT32 channel);
        explicit Gyro(UINT32 channel);
        explicit Gyro(AnalogChannel *channel);
        explicit Gyro(AnalogChannel &channel);
        virtual ~Gyro();
        virtual float GetAngle();
        void SetSensitivity(float voltsPerDegreePerSecond);
        virtual void Reset();

        // PIDSource interface
        double PIDGet();

private:
        void InitGyro();

        AnalogChannel *m_analog;
        float m_voltsPerDegreePerSecond;
        float m_offset;
        bool m_channelAllocated;
};
#endif