/**
* 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.
*
* @param slot The slot the analog module is connected to
* @param channel The analog channel the gyro is plugged into
* @return the current heading of the robot in degrees. This heading is based on integration
* of the returned rate from the gyro.
*/
float GetGyroAngle(UINT32 slot, UINT32 channel)
{
Gyro *gyro = AllocateGyro(slot, channel);
if (gyro)
return gyro->GetAngle();
return 0.0;
}
/**
* Set the gyro type based on the sensitivity.
* This takes the number of volts/degree/second sensitivity of the gyro and uses it in subsequent
* calculations to allow the code to work with multiple gyros.
*
* @param slot The slot the analog module is connected to
* @param channel The analog channel the gyro is plugged into
* @param voltsPerDegreePerSecond The type of gyro specified as the voltage that represents one degree/second.
*/
void SetGyroSensitivity(UINT32 slot, UINT32 channel,
float voltsPerDegreePerSecond)
{
Gyro *gyro = AllocateGyro(slot, channel);
if (gyro)
gyro->SetSensitivity(voltsPerDegreePerSecond);
}
/**
* Initialize the gyro.
* Calibrate the gyro by running for a number of samples and computing the center value for this
* part. Then use the center value as the Accumulator center value for subsequent measurements.
* It's important to make sure that the robot is not moving while the centering calculations are
* in progress, this is typically done when the robot is first turned on while it's sitting at
* rest before the competition starts.
*
* @param slot The slot the analog module is connected to
* @param channel The analog channel the gyro is plugged into
*/
void InitGyro(UINT32 slot, UINT32 channel)
{
AllocateGyro(slot, channel);
}
/**
* 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.
* @param slot The slot the analog module is connected to
* @param channel The analog channel the gyro is plugged into
*/
void ResetGyro(UINT32 slot, UINT32 channel)
{
Gyro *gyro = AllocateGyro(slot, channel);
if (gyro) gyro->Reset();
}
