vex_gyro.h

Go to the documentation of this file.

/*----------------------------------------------------------------------------*/
/*                                                                            */
/*    Copyright (c) Innovation First 2017, All rights reserved.               */
/*                                                                            */
/*    Module:     vex_gyro.h                                                  */
/*    Author:     James Pearman                                               */
/*    Created:    7 July 2017                                                 */
/*                                                                            */
/*    Revisions:                                                              */
/*                V1.00     TBD - Initial release                             */
/*                                                                            */
/*----------------------------------------------------------------------------*/
 
#ifndef   VEX_GYRO_CLASS_H
#define   VEX_GYRO_CLASS_H
 
/*-----------------------------------------------------------------------------*/
/*---------------------------------------------------------------------------*/
 
/*-----------------------------------------------------------------------------*/
/*-----------------------------------------------------------------------------*/
namespace vex {
  class gyro : public device {      
      public:
        gyro( int32_t index, bool calibrate=false, turnType dir = turnType::left );  
        ~gyro();
    
        bool            installed();
 
        int32_t         value();
 
        double          value( rotationUnits units = rotationUnits::deg );
      
        bool            startCalibration( gyroCalibrationType value = gyroCalibrationType::calNormal, bool waitForCompletion=true );
 
        void            calibrate( gyroCalibrationType value = gyroCalibrationType::calNormal, bool waitForCompletion=true  ) {
          startCalibration( value, waitForCompletion );
        }
 
        bool            isCalibrating();
 
        void            resetHeading();
 
        void            resetRotation();
        
        void            setHeading( double value, rotationUnits units );
 
        void            setRotation( double value, rotationUnits units );
      
        double          angle( rotationUnits units = rotationUnits::deg );
 
        double          heading( rotationUnits units = rotationUnits::deg );
 
        double          rotation( rotationUnits units = rotationUnits::deg );
 
        double          rate( rateUnits units = rateUnits::dps );
 
        void            changed( void (* callback)(void) );
 
        void            setTurnType( turnType dir );
 
        turnType        getTurnType();
        
      private:
        enum class tSensitivity {
          low          = 1,      // 62.5  degrees per second
          normal       = 3,      //  250  degrees per second
          high         = 6,      // 2000  degrees per second
        };
 
        enum class tEventType {
          EVENT_CHANGED  = 2,
          EVENT_POLL     = 4
        };
 
        int32_t         _absolute;
        int32_t         _value;
        int32_t         _offset_h;
        int32_t         _offset_r;
        tSensitivity    _sensitivity;
        int32_t         _rate;
        bool            _calInit;
        uint8_t         _mode;
      
        void            getAngleAndRate( void );
        bool            calibrationFlagGet( void );
        void            setSensitivity( tSensitivity s );
        double          rawToAngle( int32_t raw, rotationUnits units );
        int32_t         angleToRaw( double angle, rotationUnits units );
  };
};
 
#endif // VEX_GYRO_CLASS_H