WPI_PigeonIMU.h

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/* Copyright (C) Cross The Road Electronics 2024 */
/**
 * WPI Compliant Pigeon class.
 * WPILIB's object model requires many interfaces to be implemented to use
 * the various features.
 * This includes...
 * - LiveWindow/Test mode features
 * - getRotation2d/Gyro Interface
 * - Simulation Hooks
 */
 
#pragma once
 
#include "ctre/phoenix/sensors/PigeonIMU.h"
#include "ctre/phoenix/motorcontrol/can/TalonSRX.h"
#include "ctre/phoenix/WPI_CallbackHelper.h"
 
#include <mutex>
 
//Need to disable certain warnings for WPI headers.
#if __GNUC__
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wconversion"
#elif _MSC_VER
#pragma warning(push)
#pragma warning(disable : 4522 4458 4522)
#endif
 
#include "frc/geometry/Rotation2d.h"
#include "wpi/sendable/Sendable.h"
#include "wpi/sendable/SendableHelper.h"
#include "wpi/raw_ostream.h"
#include <hal/SimDevice.h>
 
//Put the warning settings back to normal
#if __GNUC__
#pragma GCC diagnostic pop
#elif _MSC_VER
#pragma warning(pop)
#endif
 
namespace ctre
{
namespace phoenix
{
namespace sensors
{
 
class WPI_PigeonIMU : public PigeonIMU,
                      public wpi::Sendable,
                      public wpi::SendableHelper<WPI_PigeonIMU>
{
  public:
    /**
     * Construtor for WPI_PigeonIMU.
     *
     * @param deviceNumber CAN Device ID of the Pigeon IMU.
     */
    WPI_PigeonIMU(int deviceNumber);
    /**
     * Construtor for WPI_PigeonIMU.
     *
     * @param talon The Talon SRX ribbon-cabled to Pigeon.
     */
    WPI_PigeonIMU(ctre::phoenix::motorcontrol::can::TalonSRX& talon);
 
    ~WPI_PigeonIMU();
 
    WPI_PigeonIMU() = delete;
    WPI_PigeonIMU(WPI_PigeonIMU const &) = delete;
    WPI_PigeonIMU &operator=(WPI_PigeonIMU const &) = delete;
 
    void InitSendable(wpi::SendableBuilder& builder) override;
 
    /**
     * \brief Resets the Pigeon IMU to a heading of zero.
     *
     * \details This can be used if there is significant drift in the gyro,
     * and it needs to be recalibrated after it has been running.
     */
    void Reset();
    /**
     * \brief Returns the heading of the robot in degrees.
     *
     * The angle increases as the Pigeon IMU turns clockwise when looked
     * at from the top. This follows the NED axis convention.
     *
     * \details The angle is continuous; that is, it will continue from
     * 360 to 361 degrees. This allows for algorithms that wouldn't want
     * to see a discontinuity in the gyro output as it sweeps past from
     * 360 to 0 on the second time around.
     *
     * \returns The current heading of the robot in degrees
     */
    double GetAngle() const;
    /**
     * \brief Returns the rate of rotation of the Pigeon IMU.
     *
     * The rate is positive as the Pigeon IMU turns clockwise when looked
     * at from the top.
     *
     * \returns The current rate in degrees per second
     */
    double GetRate() const;
    /**
     * \brief Returns the heading of the robot as a frc#Rotation2d.
     *
     * The angle increases as the Pigeon IMU turns counterclockwise when
     * looked at from the top. This follows the NWU axis convention.
     *
     * \details The angle is continuous; that is, it will continue from
     * 360 to 361 degrees. This allows for algorithms that wouldn't want
     * to see a discontinuity in the gyro output as it sweeps past from
     * 360 to 0 on the second time around.
     *
     * \returns The current heading of the robot as a frc#Rotation2d
     */
    frc::Rotation2d GetRotation2d() const;
 
  private:
    void Init();
 
    DeviceType m_simType;
 
    hal::SimDevice m_simPigeon;
    hal::SimDouble m_simFusedHeading;
    hal::SimDouble m_simRawHeading;
 
    static void OnValueChanged(const char* name, void* param, HAL_SimValueHandle handle,
                               HAL_Bool readonly, const struct HAL_Value* value);
    static void OnPeriodic(void* param);
};
 
} //namespace sensors
} //namespace phoenix
} //namespace ctre