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1 | /** |
2 | * Copyright (c) 2015, www.techhounds.com | |
3 | * All rights reserved. | |
4 | * | |
5 | * <p> | |
6 | * Redistribution and use in source and binary forms, with or without | |
7 | * modification, are permitted provided that the following conditions are met: | |
8 | * </p> | |
9 | * <ul> | |
10 | * <li>Redistributions of source code must retain the above copyright | |
11 | * notice, this list of conditions and the following disclaimer.</li> | |
12 | * <li>Redistributions in binary form must reproduce the above copyright | |
13 | * notice, this list of conditions and the following disclaimer in the | |
14 | * documentation and/or other materials provided with the distribution.</li> | |
15 | * <li>Neither the name of the www.techhounds.com nor the | |
16 | * names of its contributors may be used to endorse or promote products | |
17 | * derived from this software without specific prior written permission.</li> | |
18 | * </ul> | |
19 | * | |
20 | * <p> | |
21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND | |
22 | * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | |
23 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | |
24 | * DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY | |
25 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | |
26 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | |
27 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | |
28 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | |
29 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | |
30 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | |
31 | * </p> | |
32 | */ | |
33 | ||
7670b3f4 | 34 | package org.usfirst.frc.team3501.robot.sensors; |
1e039ebd E |
35 | |
36 | import edu.wpi.first.wpilibj.PIDSource; | |
37 | ||
38 | /** | |
39 | * A rotation tracker allows you to keep track of how far the robot has rotated | |
40 | * since the object was constructed or zeroed. | |
41 | * | |
42 | * <p> | |
43 | * This object is most useful when you want to turn your robot a particular | |
44 | * number of degrees, or when you want to detect whether your robot is tipping. | |
45 | * </p> | |
46 | * | |
47 | * <p> | |
48 | * You will typically use the {@link #getRotationTracker} method associated with | |
49 | * the gyro class associated with your hardware. For example | |
50 | * {@link GyroItg3200.getRotationTrackerZ()}. | |
51 | * </p> | |
52 | */ | |
53 | public interface RotationTracker extends PIDSource { | |
54 | ||
55 | /** | |
56 | * Returns the angle in signed decimal degrees since construction or zeroing. | |
57 | * | |
58 | * <p> | |
59 | * This value is used as the PID sensor value. | |
60 | * </p> | |
61 | * | |
62 | * @return Number of degrees the robot has rotated in the range of [-INF, | |
63 | * +INF]. Positive values indicate clockwise rotation (720 means it | |
64 | * has spun around twice and is facing the same direction). | |
65 | */ | |
66 | public double getAngle(); | |
67 | ||
68 | /** | |
69 | * Zeros the rotation tracker so the current direction we are pointing now | |
70 | * becomes the zero point. | |
71 | */ | |
72 | public void zero(); | |
73 | ||
74 | } |