edu.wpi.first.wpilibj

Class GyroBase

java.lang.Object

edu.wpi.first.wpilibj.SendableBase

edu.wpi.first.wpilibj.SensorBase

edu.wpi.first.wpilibj.GyroBase

All Implemented Interfaces:

Gyro, PIDSource, Sendable

Direct Known Subclasses:

ADXRS450_Gyro, AnalogGyro

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

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.
void	initSendable(SendableBuilder builder) Initializes 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.

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

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

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

addChild, free, getName, getSubsystem, setName, setName, setName, setSubsystem

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

Methods inherited from interface edu.wpi.first.wpilibj.Sendable

getName, getSubsystem, setName, setName, setSubsystem

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

initSendable

public void initSendable(SendableBuilder builder)

Description copied from interface: Sendable

Initializes this Sendable object.

Specified by:

initSendable in interface Sendable

Parameters:

builder - sendable builder