okapi::ADIGyro Class Reference

#include <adiGyro.hpp>

Inheritance diagram for okapi::ADIGyro:

Public Member Functions
	ADIGyro (std::uint8_t iport, double imultiplier=1)
	A gyroscope on the given ADI port.
	ADIGyro (std::pair< std::uint8_t, std::uint8_t > iports, double imultiplier=1)
	A gyroscope on the given ADI port.
double	get () const override
	Get the current sensor value.
double	getRemapped (double iupperBound=1800, double ilowerBound=-1800) const
	Get the current sensor value remapped into the target range ([-1800, 1800] by default).
std::int32_t	reset () override
	Reset the sensor to zero.
double	controllerGet () override
	Get the sensor value for use in a control loop.
Public Member Functions inherited from okapi::RotarySensor
virtual	~RotarySensor ()

Protected Attributes
pros::c::ext_adi_gyro_t	gyro

Detailed Description

Definition at line 13 of file adiGyro.hpp.

Constructor & Destructor Documentation

ADIGyro() [1/2]

okapi::ADIGyro::ADIGyro	(	std::uint8_t	iport,
		double	imultiplier = 1
	)

A gyroscope on the given ADI port.

If the port has not previously been configured as a gyro, then the constructor will block for 1 second for calibration. The gyro measures in tenths of a degree, so there are 3600 measurement points per revolution.

auto gyro = ADIGyro('A');

Parameters

iport	The ADI port number ([1, 8], [a, h], [A, H]).
imultiplier	A value multiplied by the gyro heading value.

ADIGyro() [2/2]

okapi::ADIGyro::ADIGyro	(	std::pair< std::uint8_t, std::uint8_t >	iports,
		double	imultiplier = 1
	)

A gyroscope on the given ADI port.

If the port has not previously been configured as a gyro, then the constructor will block for 1 second for calibration. The gyro measures in tenths of a degree, so there are 3600 measurement points per revolution.

auto gyro = ADIGyro({1, 'A'}, 1);

Note to developers: Keep the default value on imultiplier so that users get an error if they do ADIGyro({1, 'A'}). Without it, this calls the non-ext-adi constructor.

Parameters

iports	The ports the gyro is plugged in to in the order {smart port, gyro port}. The smart port is the smart port number ([1, 21]). The gyro port is the ADI port number ([1, 8], [a, h], [A, H]).
imultiplier	A value multiplied by the gyro heading value.

Member Function Documentation

controllerGet()

double okapi::ADIGyro::controllerGet ( )

overridevirtual

Get the sensor value for use in a control loop.

This method might be automatically called in another thread by the controller.

Returns

the current sensor value, or PROS_ERR on a failure.

Implements okapi::ControllerInput< double >.

get()

double okapi::ADIGyro::get ( ) const

overridevirtual

Get the current sensor value.

Returns

the current sensor value, or PROS_ERR on a failure.

Implements okapi::RotarySensor.

getRemapped()

double okapi::ADIGyro::getRemapped	(	double	iupperBound = 1800,
		double	ilowerBound = -1800
	)		const

Get the current sensor value remapped into the target range ([-1800, 1800] by default).

Parameters

iupperBound	the upper bound of the range.
ilowerBound	the lower bound of the range.

Returns

the remapped sensor value.

reset()

std::int32_t okapi::ADIGyro::reset ( )

overridevirtual

Reset the sensor to zero.

Returns

1 on success, PROS_ERR on fail

Implements okapi::ContinuousRotarySensor.

Member Data Documentation

gyro

pros::c::ext_adi_gyro_t okapi::ADIGyro::gyro

protected

Definition at line 80 of file adiGyro.hpp.

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The documentation for this class was generated from the following file:

• include/okapi/impl/device/rotarysensor/adiGyro.hpp