/**
* Initialize the gyro. Calibration is handled by Calibrate().
*/
void AnalogGyro::InitGyro() {
if (StatusIsFatal()) return;
if (!m_analog->IsAccumulatorChannel()) {
wpi_setWPIErrorWithContext(ParameterOutOfRange,
" channel (must be accumulator channel)");
m_analog = nullptr;
return;
}
m_voltsPerDegreePerSecond = kDefaultVoltsPerDegreePerSecond;
m_analog->SetAverageBits(kAverageBits);
m_analog->SetOversampleBits(kOversampleBits);
float sampleRate =
kSamplesPerSecond * (1 << (kAverageBits + kOversampleBits));
m_analog->SetSampleRate(sampleRate);
Wait(0.1);
SetDeadband(0.0f);
SetPIDSourceType(PIDSourceType::kDisplacement);
HALReport(HALUsageReporting::kResourceType_Gyro, m_analog->GetChannel());
LiveWindow::GetInstance()->AddSensor("AnalogGyro", m_analog->GetChannel(), this);
}
SlavedLauncherPID::SlavedLauncherPID(std::string side, MotorPin motorPin, MotorPin motorPin2, DIOPin encoderPin) :
PIDSubsystem(side + "SlavedLauncherPID", 4.5, 0.167, .0),
pidMotor(motorPin),
pidMotor2(motorPin2),
pidEncoder(encoderPin),
reverseMultiplier(1)
{
LiveWindow::GetInstance()->AddActuator(side + "LauncherPID2", side + "PIDController", GetPIDController());
LiveWindow::GetInstance()->AddActuator(side + "LauncherPID2", side + "OutputMotor", pidMotor);
LiveWindow::GetInstance()->AddActuator(side + "LauncherPID2", side + "OutputMotor2", pidMotor2);
LiveWindow::GetInstance()->AddSensor(side + "LauncherPID2", side + "Encoder", pidEncoder);
// SmartDashboard::PutData(side+"LauncherPidController", GetPIDController().get());
GetPIDController()->SetOutputRange(0,1);
SetAbsoluteTolerance(.05);
SetPIDSourceType(PIDSourceType::kDisplacement);
pidEncoder.SetSamplesToAverage(1);
// Use these to get going:
// SetSetpoint() - Sets where the PID controller should move the system
// to
// Enable() - Enables the PID controller.
}
