edu.wpi.first.wpilibj

Class GyroBase

java.lang.Object

edu.wpi.first.wpilibj.SensorBase

edu.wpi.first.wpilibj.GyroBase

All Implemented Interfaces:

Gyro, LiveWindowSendable, PIDSource, Sendable

Direct Known Subclasses:

ADXRS450_Gyro, AnalogGyro

public abstract class GyroBase
extends SensorBase
implements Gyro, PIDSource, LiveWindowSendable

GyroBase is the common base class for Gyro implementations such as AnalogGyro.

Field Summary

Fields inherited from class edu.wpi.first.wpilibj.SensorBase

kAnalogInputChannels, kAnalogOutputChannels, kDigitalChannels, kPCMModules, kPDPChannels, kPDPModules, kPwmChannels, kRelayChannels, kSolenoidChannels, kSystemClockTicksPerMicrosecond

Constructor Summary

Constructors

Constructor and Description
GyroBase()

Method Summary

Modifier and Type	Method and Description
PIDSourceType	getPIDSourceType() Get which parameter of the device you are using as a process control variable.
java.lang.String	getSmartDashboardType() The string representation of the named data type that will be used by the smart dashboard for this Sendable.
ITable	getTable() The table that is associated with this Sendable.
void	initTable(ITable subtable) Initializes a table for this Sendable object.
double	pidGet() Get the output of the gyro for use with PIDControllers.
void	setPIDSourceType(PIDSourceType pidSource) Set which parameter of the gyro you are using as a process control variable.
void	startLiveWindowMode() Start having this sendable object automatically respond to value changes reflect the value on the table.
void	stopLiveWindowMode() Stop having this sendable object automatically respond to value changes.
void	updateTable() Update the table for this sendable object with the latest values.

Methods inherited from class edu.wpi.first.wpilibj.SensorBase

checkAnalogInputChannel, checkAnalogOutputChannel, checkDigitalChannel, checkPDPChannel, checkPDPModule, checkPWMChannel, checkRelayChannel, checkSolenoidChannel, checkSolenoidModule, free, getDefaultSolenoidModule, setDefaultSolenoidModule

Methods inherited from class java.lang.Object

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

Methods inherited from interface edu.wpi.first.wpilibj.interfaces.Gyro

calibrate, free, getAngle, getRate, reset

Constructor Detail

GyroBase

public GyroBase()

Method Detail

setPIDSourceType

public void setPIDSourceType(PIDSourceType pidSource)

Set which parameter of the gyro you are using as a process control variable. The Gyro class supports the rate and displacement parameters

Specified by:

setPIDSourceType in interface PIDSource

Parameters:

pidSource - An enum to select the parameter.

getPIDSourceType

public PIDSourceType getPIDSourceType()

Description copied from interface: PIDSource

Get which parameter of the device you are using as a process control variable.

Specified by:

getPIDSourceType in interface PIDSource

Returns:

the currently selected PID source parameter

pidGet

public double pidGet()

Get the output of the gyro for use with PIDControllers. May be the angle or rate depending on the set PIDSourceType

Specified by:

pidGet in interface PIDSource

Returns:

the output according to the gyro

getSmartDashboardType

public java.lang.String getSmartDashboardType()

Description copied from interface: Sendable

The string representation of the named data type that will be used by the smart dashboard for this Sendable.

Specified by:

getSmartDashboardType in interface Sendable

Returns:

The type of this Sendable.

initTable

public void initTable(ITable subtable)

Description copied from interface: Sendable

Initializes a table for this Sendable object.

Specified by:

initTable in interface Sendable

Parameters:

subtable - The table to put the values in.

getTable

public ITable getTable()

Description copied from interface: Sendable

The table that is associated with this Sendable.

Specified by:

getTable in interface Sendable

Returns:

the table that is currently associated with the Sendable.

updateTable

public void updateTable()

Description copied from interface: LiveWindowSendable

Update the table for this sendable object with the latest values.

Specified by:

updateTable in interface LiveWindowSendable

startLiveWindowMode

public void startLiveWindowMode()

Description copied from interface: LiveWindowSendable

Start having this sendable object automatically respond to value changes reflect the value on the table.

Specified by:

startLiveWindowMode in interface LiveWindowSendable

stopLiveWindowMode

public void stopLiveWindowMode()

Description copied from interface: LiveWindowSendable

Stop having this sendable object automatically respond to value changes.

Specified by:

stopLiveWindowMode in interface LiveWindowSendable