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Delete RobotGyro.java
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aarav18
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package frc4388.utility;
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import com.ctre.phoenix.sensors.PigeonIMU;
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import com.ctre.phoenix.sensors.PigeonIMU.CalibrationMode;
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import com.kauailabs.navx.frc.AHRS;
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import edu.wpi.first.wpilibj.GyroBase;
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import edu.wpi.first.wpiutil.math.MathUtil;
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/**
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* Gyro class that allows for interchangeable use between a pigeon and a navX
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*/
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public class RobotGyro extends GyroBase {
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private RobotTime m_robotTime = RobotTime.getInstance();
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private PigeonIMU m_pigeon = null;
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private AHRS m_navX = null;
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public boolean m_isGyroAPigeon; //true if pigeon, false if navX
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private double m_lastPigeonAngle;
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private double m_deltaPigeonAngle;
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/**
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* Creates a Gyro based on a pigeon
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* @param gyro the gyroscope to use for Gyro
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*/
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public RobotGyro(PigeonIMU gyro) {
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m_pigeon = gyro;
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m_isGyroAPigeon = true;
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}
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/**
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* Creates a Gyro based on a navX
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* @param gyro the gyroscope to use for Gyro
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*/
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public RobotGyro(AHRS gyro){
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m_navX = gyro;
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m_isGyroAPigeon = false;
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}
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/**
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* Run in periodic if you are using a pigeon. Updates a delta angle so that it can calculate getRate(). Note
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* that the getRate() method for a navX will likely be much more accurate than for a pigeon.
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*/
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public void updatePigeonDeltas() {
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double currentPigeonAngle = getAngle();
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m_deltaPigeonAngle = currentPigeonAngle - m_lastPigeonAngle;
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m_lastPigeonAngle = currentPigeonAngle;
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}
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/**
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* <p>NavX:
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* <p>Calibrate the gyro by running for a number of samples and computing the center value. Then use
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* the center value as the Accumulator center value for subsequent measurements. It's important to
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* make sure that the robot is not moving while the centering calculations are in progress, this
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* is typically done when the robot is first turned on while it's sitting at rest before the
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* competition starts.
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*
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* <p>Pigeon:
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* <p>Calibrate the gyro by collecting data at a range of tempuratures. Allow pigeon to cool, then boot
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* into calibration mode. For faster calibration, use a heat lamp to heat up the pigeon. Once the pigeon
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* has seen a reasonable range of tempuratures, it will exit calibration mode. It's important to
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* make sure that the robot is not moving while the tempurature calculations are in progress, this
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* is typically done when the robot is first turned on while it's sitting at rest before the
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* competition starts.
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*/
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@Override
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public void calibrate() {
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if (m_isGyroAPigeon) {
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m_pigeon.enterCalibrationMode(CalibrationMode.Temperature);
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} else {
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m_navX.calibrate();
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}
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}
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@Override
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public void reset() {
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if (m_isGyroAPigeon) {
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m_pigeon.setYaw(0);
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} else {
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m_navX.reset();
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}
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}
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/**
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* Get Yaw, Pitch, and Roll data.
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*
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* @return ypr_deg Array with yaw[0], pitch[1], and roll[2] data.
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* Yaw is within [-368,640, +368,640] degrees.
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* Pitch is within [-90,+90] degrees.
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* Roll is within [-90,+90] degrees.
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*/
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private double[] getPigeonAngles() {
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double[] angles = new double[3];
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m_pigeon.getYawPitchRoll(angles);
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return angles;
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}
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@Override
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public double getAngle() {
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if (m_isGyroAPigeon) {
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return getPigeonAngles()[0];
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} else {
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return m_navX.getAngle();
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}
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}
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/**
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* Gets an absolute heading of the robot
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* @return heading from -180 to 180 degrees
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*/
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public double getHeading() {
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return getHeading(getAngle());
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}
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/**
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* Gets an absolute heading of the robot
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* @return heading from -180 to 180 degrees
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*/
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public double getHeading(double angle) {
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return Math.IEEEremainder(angle, 360);
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}
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/**
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* Returns the current pitch value (in degrees, from -90 to 90)
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* reported by the sensor. Pitch is a measure of rotation around
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* the Y Axis.
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* @return The current pitch value in degrees (-90 to 90).
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*/
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public double getPitch() {
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if (m_isGyroAPigeon) {
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return MathUtil.clamp(getPigeonAngles()[1], -90, 90);
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} else {
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return MathUtil.clamp(m_navX.getPitch(), -90, 90);
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}
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}
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/**
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* Returns the current roll value (in degrees, from -90 to 90)
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* reported by the sensor. Roll is a measure of rotation around
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* the X Axis.
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* @return The current roll value in degrees (-90 to 90).
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*/
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public double getRoll() {
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if (m_isGyroAPigeon) {
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return MathUtil.clamp(getPigeonAngles()[2], -90, 90);
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} else {
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return MathUtil.clamp(m_navX.getRoll(), -90, 90);
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}
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}
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@Override
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public double getRate() {
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if (m_isGyroAPigeon) {
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return m_deltaPigeonAngle / m_robotTime.m_deltaTime * 1000;
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} else {
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return m_navX.getRate();
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}
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}
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public PigeonIMU getPigeon(){
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return m_pigeon;
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}
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public AHRS getNavX(){
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return m_navX;
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}
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@Override
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public void close() throws Exception {
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}
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}
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