# validated: 2017-12-24 DS f9bece2ffbf7 edu/wpi/first/wpilibj/GyroBase.java
#----------------------------------------------------------------------------
# Copyright (c) FIRST 2008-2017. All Rights Reserved.
# Open Source Software - may be modified and shared by FRC teams. The code
# must be accompanied by the FIRST BSD license file in the root directory of
# the project.
#----------------------------------------------------------------------------
from .interfaces import PIDSource
from .sensorbase import SensorBase
__all__ = ['GyroBase']
[docs]class GyroBase(SensorBase):
'''
GyroBase is the common base class for Gyro implementations such as
:class:`.AnalogGyro`.
'''
PIDSourceType = PIDSource.PIDSourceType
def __init__(self):
super().__init__()
self.pidSource = self.PIDSourceType.kDisplacement
self.valueEntry = None
[docs] def calibrate(self):
raise NotImplementedError()
[docs] def reset(self):
raise NotImplementedError()
[docs] def getAngle(self):
raise NotImplementedError()
[docs] def getRate(self):
raise NotImplementedError()
[docs] def setPIDSourceType(self, pidSource):
"""Set which parameter of the gyro you are using as a process
control variable. The Gyro class supports the rate and angle
parameters.
:param pidSource: An enum to select the parameter.
:type pidSource: :class:`.PIDSource.PIDSourceType`
"""
if pidSource not in (self.PIDSourceType.kDisplacement,
self.PIDSourceType.kRate):
raise ValueError("Must be kRate or kDisplacement")
self.pidSource = pidSource
[docs] def getPIDSourceType(self):
return self.pidSource
[docs] def pidGet(self):
"""Get the output of the gyro for use with PIDControllers. May be
the angle or rate depending on the set :class:`.PIDSourceType`
:returns: the current angle according to the gyro
:rtype: float
"""
if self.pidSource == self.PIDSourceType.kRate:
return self.getRate()
elif self.pidSource == self.PIDSourceType.kDisplacement:
return self.getAngle()
else:
return 0.0
[docs] def initSendable(self, builder):
builder.setSmartDashboardType("Gyro")
builder.addDoubleProperty("Value", self.getAngle, None)