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FtcHiTechnicGyro.java
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FtcHiTechnicGyro.java
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/*
* Titan Robotics Framework Library
* Copyright (c) 2015 Titan Robotics Club (http://www.titanrobotics.net)
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
package ftclib;
import com.qualcomm.robotcore.hardware.GyroSensor;
import com.qualcomm.robotcore.hardware.HardwareMap;
import hallib.HalUtil;
import trclib.TrcDbgTrace;
import trclib.TrcFilter;
import trclib.TrcGyro;
/**
* This class implements the HiTechnic gyro extending TrcGyro.
* It provides implementation of the abstract methods in TrcGyro.
* It supports only the z axis. It provides rotation rate data
* but not heading and it does not support built-in calibration.
*/
public class FtcHiTechnicGyro extends TrcGyro
{
private static final String moduleName = "FtcHiTechnicGyro";
private static final boolean debugEnabled = false;
private TrcDbgTrace dbgTrace = null;
private GyroSensor gyro;
/**
* Constructor: Creates an instance of the object.
*
* @param hardwareMap specifies the global hardware map.
* @param instanceName specifies the instance name.
* @param filters specifies an array of filters to use for filtering
* sensor noise, one for each axis. Since we only have
* 1 axis, the array should have 1 element. If no
* filters are used, it can be set to null.
*/
public FtcHiTechnicGyro(HardwareMap hardwareMap, String instanceName, TrcFilter[] filters)
{
super(instanceName, 1, GYRO_HAS_Z_AXIS | GYRO_INTEGRATE, filters);
if (debugEnabled)
{
dbgTrace = new TrcDbgTrace(moduleName + "." + instanceName,
false,
TrcDbgTrace.TraceLevel.API,
TrcDbgTrace.MsgLevel.INFO);
}
gyro = hardwareMap.gyroSensor.get(instanceName);
} //FtcHiTechnicGyro
/**
* Constructor: Creates an instance of the object.
*
* @param instanceName specifies the instance name.
* @param filters specifies an array of filters to use for filtering
* sensor noise, one for each axis. Since we only have
* 1 axis, the array should have 1 element. If no
* filters are used, it can be set to null.
*/
public FtcHiTechnicGyro(String instanceName, TrcFilter[] filters)
{
this(FtcOpMode.getInstance().hardwareMap, instanceName, filters);
} //FtcHiTechnicGyro
/**
* Constructor: Creates an instance of the object.
*
* @param instanceName specifies the instance name.
*/
public FtcHiTechnicGyro(String instanceName)
{
this(instanceName, null);
} //FtcHiTechnicGyro
/**
* This method calibrates the sensor.
*/
public void calibrate()
{
calibrate(DataType.ROTATION_RATE);
} //calibrate
//
// Implements TrcGyro abstract methods.
//
/**
* This method returns the raw data of the specified type for the x-axis
* which is not supported.
*
* @param dataType specifies the data type.
* @return throws UnsupportedOperation exception.
*/
@Override
public SensorData getRawXData(DataType dataType)
{
final String funcName = "getRawXData";
if (debugEnabled)
{
dbgTrace.traceEnter(funcName, TrcDbgTrace.TraceLevel.API);
dbgTrace.traceExit(funcName, TrcDbgTrace.TraceLevel.API, "=null");
}
throw new UnsupportedOperationException("HiTechnic gyro does not support x-axis.");
} //getRawXData
/**
* This method returns the raw data of the specified type for the y-axis
* which is not supported.
*
* @param dataType specifies the data type.
* @return throws UnsupportedOperation exception.
*/
@Override
public SensorData getRawYData(DataType dataType)
{
final String funcName = "getRawYData";
if (debugEnabled)
{
dbgTrace.traceEnter(funcName, TrcDbgTrace.TraceLevel.API);
dbgTrace.traceExit(funcName, TrcDbgTrace.TraceLevel.API, "=null");
}
throw new UnsupportedOperationException("HiTechnic gyro does not support y-axis.");
} //getRawYData
/**
* This method returns the raw data of the specified type for the z-axis.
*
* @param dataType specifies the data type.
* @return raw data of the specified type for the z-axis.
*/
@Override
public SensorData getRawZData(DataType dataType)
{
final String funcName = "getRawZData";
double value = 0.0;
//
// HiTechnic gyro supports only rotation rate.
//
if (dataType == DataType.ROTATION_RATE)
{
value = gyro.getRotation();
}
SensorData data = new SensorData(HalUtil.getCurrentTime(), value);
if (debugEnabled)
{
dbgTrace.traceEnter(funcName, TrcDbgTrace.TraceLevel.API);
dbgTrace.traceExit(funcName, TrcDbgTrace.TraceLevel.API,
"=(timestamp:%.3f,value:%f", data.timestamp, data.value);
}
return data;
} //getRawZData
} //class FtcHiTechnicGyro