TRC Library for FTC (2011) 2011
TRC Library Code Project

C:/Users/Michael/Ftc/2011/code/trclib/gyro.h File Reference

#include "..\HTDriversV1.6\drivers\HTGYRO-driver.h"

Go to the source code of this file.

Data Structures

struct  GYRO

Defines

#define _GYRO_H
#define MOD_ID   MOD_GYRO
#define GYROF_USER_MASK   0x00ff
#define GYROF_INVERSE   0x0001
#define GYRO_NUM_CAL_SAMPLES   50
#define GYRO_CAL_INTERVAL   10
#define GyroGetTurnRate(p)   (p.turnRate)
#define GyroGetHeading(p)   (p.heading)

Functions

void GyroCal (__out GYRO &gyro, __in int numSamples, __in int calInterval)
void GyroTask (__inout GYRO &gyro)
void GyroReset (__out GYRO &gyro)
void GyroInit (__out GYRO &gyro, __in int sensorID, __in int gyroFlags)

Define Documentation

#define _GYRO_H

Definition at line 16 of file gyro.h.

#define GYRO_CAL_INTERVAL   10

Definition at line 37 of file gyro.h.

#define GYRO_NUM_CAL_SAMPLES   50

Definition at line 36 of file gyro.h.

#define GYROF_INVERSE   0x0001

Definition at line 31 of file gyro.h.

#define GYROF_USER_MASK   0x00ff

Definition at line 30 of file gyro.h.

#define GyroGetHeading (   p)    (p.heading)

Definition at line 43 of file gyro.h.

#define GyroGetTurnRate (   p)    (p.turnRate)

Definition at line 42 of file gyro.h.

#define MOD_ID   MOD_GYRO

Definition at line 25 of file gyro.h.


Function Documentation

void GyroCal ( __out GYRO gyro,
__in int  numSamples,
__in int  calInterval 
)

This function calibrates the gyro for zero offset and deadband.

Parameters:
gyroPoints to the GYRO structure to be initialized.
numSamplesSpecifies the number of calibration samples.
calIntervalSpecifies the calibration interval in msec.

Definition at line 67 of file gyro.h.

void GyroInit ( __out GYRO gyro,
__in int  sensorID,
__in int  gyroFlags 
)

This function initializes the gyro sensor.

Parameters:
gyroPoints to the GYRO structure to be initialized.
sensorIDSpecifies the ID of the gyro sensor.
gyroFlagsSpecifies the gyro flags.

Definition at line 182 of file gyro.h.

void GyroReset ( __out GYRO gyro)

This function resets the gyro heading.

Parameters:
gyroPoints to the GYRO structure to be reset.

Definition at line 159 of file gyro.h.

void GyroTask ( __inout GYRO gyro)

This function performs the gyro task where it integrates the turn rate into a heading value.

Parameters:
gyroPoints to the GYRO structure.

Definition at line 122 of file gyro.h.

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