Package ftclib.sensor

Class FtcAnalogGyro

java.lang.Object

trclib.sensor.TrcSensor<TrcGyro.DataType>

trclib.sensor.TrcGyro

ftclib.sensor.FtcAnalogGyro

All Implemented Interfaces:

TrcOdometrySensor

public class FtcAnalogGyro
extends TrcGyro

This class implements an Analog gyro extending TrcGyro. It provides implementation of the abstract methods in TrcGyro. It supports only the z axis. The hardware provides rotation rate data but not heading and it does not support built-in calibration.

Nested Class Summary

Nested classes/interfaces inherited from class trclib.sensor.TrcGyro

TrcGyro.DataType, TrcGyro.GyroData

Nested classes/interfaces inherited from class trclib.sensor.TrcSensor

TrcSensor.DataSource<D>, TrcSensor.SensorData<T>

Nested classes/interfaces inherited from interface trclib.sensor.TrcOdometrySensor

TrcOdometrySensor.Odometry

Field Summary

Fields

Modifier and Type	Field	Description
private final com.qualcomm.robotcore.hardware.AnalogInput	gyro
private final double	voltPerDegPerSec

Fields inherited from class trclib.sensor.TrcGyro

GYRO_HAS_X_AXIS, GYRO_HAS_Y_AXIS, GYRO_HAS_Z_AXIS, GYRO_INTEGRATE

Fields inherited from class trclib.sensor.TrcSensor

instanceName, tracer

Constructor Summary

Constructors

Constructor	Description
FtcAnalogGyro(com.qualcomm.robotcore.hardware.HardwareMap hardwareMap, String instanceName, double voltPerDegPerSec, TrcFilter[] filters)	Constructor: Creates an instance of the object.
FtcAnalogGyro(String instanceName, double voltPerDegPerSec)	Constructor: Creates an instance of the object.
FtcAnalogGyro(String instanceName, double voltPerDegPerSec, TrcFilter[] filters)	Constructor: Creates an instance of the object.

Method Summary

Modifier and Type	Method	Description
void	calibrate()	This method calibrates the sensor.
TrcSensor.SensorData<Double>	getRawXData(TrcGyro.DataType dataType)	This method returns the raw data of the specified type for the x-axis which is not supported.
TrcSensor.SensorData<Double>	getRawYData(TrcGyro.DataType dataType)	This method returns the raw data of the specified type for the y-axis which is not supported.
TrcSensor.SensorData<Double>	getRawZData(TrcGyro.DataType dataType)	This method returns the raw data of the specified type for the z-axis.

Methods inherited from class trclib.sensor.TrcGyro

getName, getOdometry, getRawData, getXHeading, getXRotationRate, getYHeading, getYRotationRate, getZHeading, getZRotationRate, printElapsedTime, resetOdometry, resetXIntegrator, resetXWrapValueConverter, resetYIntegrator, resetYWrapValueConverter, resetZIntegrator, resetZWrapValueConverter, setElapsedTimerEnabled, setEnabled, setXInverted, setXScale, setXValueRange, setYInverted, setYScale, setYValueRange, setZInverted, setZScale, setZValueRange, toString

Methods inherited from class trclib.sensor.TrcSensor

calibrate, calibrate, getNumAxes, getProcessedData, isCalibrating, setInverted, setScale, setScaleAndOffset

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Methods inherited from interface trclib.sensor.TrcOdometrySensor

getOdometries, getOdometry

Field Details

voltPerDegPerSec

private final double voltPerDegPerSec

gyro

private final com.qualcomm.robotcore.hardware.AnalogInput gyro

Constructor Details

FtcAnalogGyro

public FtcAnalogGyro(com.qualcomm.robotcore.hardware.HardwareMap hardwareMap,
 String instanceName,
 double voltPerDegPerSec,
 TrcFilter[] filters)

Constructor: Creates an instance of the object.

Parameters:

hardwareMap - specifies the global hardware map.

instanceName - specifies the instance name.

voltPerDegPerSec - specifies the rotation rate scale.

filters - specifies an array of filters to use for filtering sensor noise, one for each axis. Since we only have 1 axis, the array should have 1 element. If no filters are used, it can be set to null.

FtcAnalogGyro

public FtcAnalogGyro(String instanceName,
 double voltPerDegPerSec,
 TrcFilter[] filters)

Constructor: Creates an instance of the object.

Parameters:

instanceName - specifies the instance name.

voltPerDegPerSec - specifies the rotation rate scale.

filters - specifies an array of filters to use for filtering sensor noise, one for each axis. Since we only have 1 axis, the array should have 1 element. If no filters are used, it can be set to null.

FtcAnalogGyro

public FtcAnalogGyro(String instanceName,
 double voltPerDegPerSec)

Constructor: Creates an instance of the object.

Parameters:

instanceName - specifies the instance name.

voltPerDegPerSec - specifies the rotation rate scale.

Method Details

calibrate

public void calibrate()

This method calibrates the sensor.

getRawXData

public TrcSensor.SensorData<Double> getRawXData(TrcGyro.DataType dataType)

This method returns the raw data of the specified type for the x-axis which is not supported.

Specified by:

getRawXData in class TrcGyro

Parameters:

dataType - specifies the data type.

Returns:

throws UnsupportedOperation exception.

getRawYData

public TrcSensor.SensorData<Double> getRawYData(TrcGyro.DataType dataType)

This method returns the raw data of the specified type for the y-axis which is not supported.

Specified by:

getRawYData in class TrcGyro

Parameters:

dataType - specifies the data type.

Returns:

throws UnsupportedOperation exception.

getRawZData

public TrcSensor.SensorData<Double> getRawZData(TrcGyro.DataType dataType)

This method returns the raw data of the specified type for the z-axis.

Specified by:

getRawZData in class TrcGyro

Parameters:

dataType - specifies the data type.

Returns:

raw data of the specified type for the z-axis in degrees per second.