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"
#include "LiveWindow/LiveWindowSendable.h"

class AnalogChannel;
class AnalogModule;

class Gyro : public SensorBase, public PIDSource, public LiveWindowSendable
{
public:
    static const uint32_t kOversampleBits = 10;
    static const uint32_t kAverageBits = 0;

    static constexpr float kSamplesPerSecond = 50.0;
    static constexpr float kCalibrationSampleTime = 5.0;
    static constexpr float kDefaultVoltsPerDegreePerSecond = 0.007;

    Gyro(uint8_t moduleNumber, uint32_t channel);
    explicit Gyro(uint32_t channel);
    explicit Gyro(AnalogChannel *channel);
    explicit Gyro(AnalogChannel &channel);
    virtual ~Gyro();
    virtual float GetAngle();
    virtual double GetRate();
    void SetSensitivity(float voltsPerDegreePerSecond);
    void SetPIDSourceParameter(PIDSourceParameter pidSource);
    virtual void Reset();

    // PIDSource interface
    double PIDGet();
    
    void UpdateTable();
    void StartLiveWindowMode();
    void StopLiveWindowMode();
    std::string GetSmartDashboardType();
    void InitTable(ITable *subTable);
    ITable * GetTable();

private:
    void InitGyro();

    AnalogChannel *m_analog;
    float m_voltsPerDegreePerSecond;
    float m_offset;
    bool m_channelAllocated;
    uint32_t m_center;
    PIDSourceParameter m_pidSource;
    
    ITable *m_table;
};
#endif