org.usfirst.frc.team1736.lib.Sensors

Class L3G4200DGyro

java.lang.Object

org.usfirst.frc.team1736.lib.Sensors.L3G4200DGyro

public class L3G4200DGyro
extends java.lang.Object

DESCRIPTION:
Driver for L3G4200D MEMS Gyro Includes filtering and discrete integral for angle calculation.
Multithreaded support. Initializing the gyro kicks off a periodic read function which asynchronously reads from they gyro in the background.
The periodic update function is designed to be called by this background thread. Each time it is called, it gets the latest value from the gyro, performs any filtering required, and integrates the gyro value to calculate an angle. Class-private variables are updated by this function.
USAGE:

1. Instantiate class. This will start periodic reads and calcualtions in the background.
2. Set Threshold and dbnc (time) globals
3. When needed, call the read methods to get the most recent angle or rotational rate reading from the sensor.

Field Summary

Fields

Modifier and Type	Field and Description
static double	gyro_deadzone Minimum rotational speed to start accumulating rotation
static int	GYRO_INIT_READS Number of reads to do on init
short	zero_motion_offset Nominal Z value.

Method Summary

Modifier and Type	Method and Description
double	get_gyro_angle() Get the most recent angle calculation result from the gyro.
boolean	get_gyro_initalized() Check if the gyro has been initalized fully yet or not.
boolean	get_gyro_read_status() Check if the most recent read from the gyro was good or not.
double	get_gyro_z()
void	reset_gyro_angle() Resets the current angle of the gyro to zero

Methods inherited from class java.lang.Object

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

Field Detail

GYRO_INIT_READS

public static final int GYRO_INIT_READS

Number of reads to do on init

See Also:

Constant Field Values

zero_motion_offset

public short zero_motion_offset

Nominal Z value. This is populated at startup with the average value of all the reads we take from the gyro.

gyro_deadzone

public static final double gyro_deadzone

Minimum rotational speed to start accumulating rotation

See Also:

Constant Field Values

Method Detail

get_gyro_z

public double get_gyro_z()

Returns:

The most recent gyro reading in degrees per second.

get_gyro_angle

public double get_gyro_angle()

Get the most recent angle calculation result from the gyro. Angle can vary between -Infinity and Infinity, you must wrap this to 0-360 if desired.

Returns:

The most recently calculated gyro angle in degrees

reset_gyro_angle

public void reset_gyro_angle()

Resets the current angle of the gyro to zero

get_gyro_read_status

public boolean get_gyro_read_status()

Check if the most recent read from the gyro was good or not.

Returns:

True if gyro is reading good data, false if gyro data is corrupted.

get_gyro_initalized

public boolean get_gyro_initalized()

Check if the gyro has been initalized fully yet or not.

Returns:

True if gyro is initalized, false if not.