SendableGyro Class Reference

#include <SendableGyro.h>

Inheritance diagram for SendableGyro:

List of all members.

Public Member Functions
	SendableGyro (UINT8 moduleNumber, UINT32 channel)
	SendableGyro (UINT32 channel)
	SendableGyro (AnalogChannel *channel)
virtual float	GetAngle ()
virtual void	Reset ()
void	SetUpdatePeriod (double period)
double	GetUpdatePeriod ()
void	ResetToAngle (double angle)
virtual std::string	GetType ()
virtual NetworkTable *	GetTable ()

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Detailed Description

The SendableGyro class behaves exactly the same as a Gyro except that it also implements SmartDashboardData so that it can be sent over to the SmartDashboard.

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Constructor & Destructor Documentation

SendableGyro::SendableGyro	(	UINT8	moduleNumber,
		UINT32	channel
	)

Gyro constructor given a moduleNumber and a channel.

Parameters:

moduleNumber	The analog module the gyro is connected to.
channel	The analog channel the gyro is connected to.

SendableGyro::SendableGyro

(

UINT32

channel

)

Gyro constructor with only a channel.

Use the default analog module slot.

Parameters:

channel

The analog channel the gyro is connected to.

SendableGyro::SendableGyro

(

AnalogChannel *

channel

)

Gyro constructor with a precreated analog channel object. Use this constructor when the analog channel needs to be shared. There is no reference counting when an AnalogChannel is passed to the gyro.

Parameters:

channel

The AnalogChannel object that the gyro is connected to.

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Member Function Documentation

float SendableGyro::GetAngle

(

void

)

[virtual]

Return the actual angle in degrees that the robot is currently facing.

The angle is based on the current accumulator value corrected by the oversampling rate, the gyro type and the A/D calibration values. The angle is continuous, that is can go beyond 360 degrees. This make algorithms that wouldn't want to see a discontinuity in the gyro output as it sweeps past 0 on the second time around.

Returns:

the current heading of the robot in degrees. This heading is based on integration of the returned rate from the gyro.

Reimplemented from Gyro.

double SendableGyro::GetUpdatePeriod

(

)

Returns the period (in seconds) between updates to the SmartDashboard. This value is independent of whether or not this SendableGyro is connected to the SmartDashboard. The default value is 0.2 seconds.

Returns:

the period (in seconds)

void SendableGyro::Reset

(

)

[virtual]

Reset the gyro. Resets the gyro to a heading of zero. This can be used if there is significant drift in the gyro and it needs to be recalibrated after it has been running.

Reimplemented from Gyro.

void SendableGyro::ResetToAngle

(

double

angle

)

Reset the gyro. Resets the gyro to the given heading. This can be used if there is significant drift in the gyro and it needs to be recalibrated after it has been running.

Parameters:

angle

the angle the gyro should believe it is pointing

void SendableGyro::SetUpdatePeriod

(

double

period

)

Sets the time (in seconds) between updates to the SmartDashboard. The default is 0.2 seconds.

Parameters:

period

the new time between updates

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The documentation for this class was generated from the following files:

• SmartDashboard/SendableGyro.h
• SmartDashboard/SendableGyro.cpp