Initial commit - test serial

SerialTest/include/okapi/impl/device/rotarysensor/IMU.hpp

@@ -0,0 +1,109 @@
+/*
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+#pragma once
+
+#include "api.h"
+#include "okapi/api/control/controllerInput.hpp"
+#include "okapi/api/device/rotarysensor/continuousRotarySensor.hpp"
+
+namespace okapi {
+enum class IMUAxes {
+  z, ///< Yaw Axis
+  y, ///< Pitch Axis
+  x  ///< Roll Axis
+};
+
+class IMU : public ContinuousRotarySensor {
+  public:
+  /**
+   * An inertial sensor on the given port. The IMU returns an angle about the selected axis in
+   * degrees.
+   *
+   * ```cpp
+   * auto imuZ = IMU(1);
+   * auto imuX = IMU(1, IMUAxes::x);
+   * ```
+   *
+   * @param iport The port number in the range ``[1, 21]``.
+   * @param iaxis The axis of the inertial sensor to measure, default `IMUAxes::z`.
+   */
+  IMU(std::uint8_t iport, IMUAxes iaxis = IMUAxes::z);
+
+  /**
+   * Get the current rotation about the configured axis.
+   *
+   * @return The current sensor value or ``PROS_ERR``.
+   */
+  double get() const override;
+
+  /**
+   * Get the current sensor value remapped into the target range (``[-1800, 1800]`` by default).
+   *
+   * @param iupperBound The upper bound of the range.
+   * @param ilowerBound The lower bound of the range.
+   * @return The remapped sensor value.
+   */
+  double getRemapped(double iupperBound = 1800, double ilowerBound = -1800) const;
+
+  /**
+   * Get the current acceleration along the configured axis.
+   *
+   * @return The current sensor value or ``PROS_ERR``.
+   */
+  double getAcceleration() const;
+
+  /**
+   * Reset the rotation value to zero.
+   *
+   * @return ``1`` or ``PROS_ERR``.
+   */
+  std::int32_t reset() override;
+
+  /**
+   * Resets rotation value to desired value
+   * For example, ``reset(0)`` will reset the sensor to zero.
+   * But ``reset(90)`` will reset the sensor to 90 degrees.
+   *
+   * @param inewAngle desired reset value
+   * @return ``1`` or ``PROS_ERR``.
+   */
+  std::int32_t reset(double inewAngle);
+
+  /**
+   * Calibrate the IMU. Resets the rotation value to zero. Calibration is expected to take two
+   * seconds, but is bounded to five seconds.
+   *
+   * @return ``1`` or ``PROS_ERR``.
+   */
+  std::int32_t calibrate();
+
+  /**
+   * Get the sensor value for use in a control loop. This method might be automatically called in
+   * another thread by the controller.
+   *
+   * @return The current sensor value or ``PROS_ERR``.
+   */
+  double controllerGet() override;
+
+  /**
+   * @return Whether the IMU is calibrating.
+   */
+  bool isCalibrating() const;
+
+  protected:
+  std::uint8_t port;
+  IMUAxes axis;
+  double offset = 0;
+
+  /**
+   * Get the current rotation about the configured axis. The internal offset is not accounted for
+   * or modified. This just reads from the sensor.
+   *
+   * @return The current sensor value or ``PROS_ERR``.
+   */
+  double readAngle() const;
+};
+} // namespace okapi