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@jasondaming
jasondaming committed Dec 13, 2023
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Showing 1 changed file with 59 additions and 54 deletions.
113 changes: 59 additions & 54 deletions source/docs/software/hardware-apis/sensors/gyros-software.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -35,7 +35,7 @@ The ADIS16448 uses the :code:`ADIS16448_IMU` class (`Java <https://github.wpilib
from wpilib import ADIS16448_IMU
# ADIS16448 plugged into the MXP port
gyro = ADIS16448_IMU()
self.gyro = ADIS16448_IMU()
ADIS16470
---------
Expand All @@ -59,7 +59,7 @@ The ADIS16470 uses the :code:`ADIS16470_IMU` class (`Java <https://github.wpilib
.. code-block:: python
# ADIS16470 plugged into the SPI port
gyro = ADIS16470_IMU()
self.gyro = ADIS16470_IMU()
ADXRS450_Gyro
-------------
Expand All @@ -83,7 +83,7 @@ The :code:`ADXRS450_Gyro` class (`Java <https://github.wpilib.org/allwpilib/docs
.. code-block:: python
# Creates an ADXRS450_Gyro object on the onboard SPI port
gyro = ADXRS450_Gyro()
self.gyro = ADXRS450_Gyro()
AnalogGyro
----------
Expand All @@ -107,7 +107,7 @@ The :code:`AnalogGyro` class (`Java <https://github.wpilib.org/allwpilib/docs/be
.. code-block:: python
# Creates an AnalogGyro object on port 0
gyro = AnalogGyro(0)
self.gyro = AnalogGyro(0)
navX
----
Expand All @@ -128,8 +128,10 @@ The navX uses the :code:`AHRS` class. See the `navX documentation <https://pdoc

.. code-block:: python
import navx
# navX MXP using SPI
gyro = AHRS(SPI.Port.kMXP)
self.gyro = navx.AHRS(SPI.Port.kMXP)
Pigeon
------
Expand All @@ -154,10 +156,13 @@ The Pigeon should use the :code:`WPI_PigeonIMU` class. The Pigeon can either be

.. code-block:: python
gyro = WPI_PigeonIMU(0); # Pigeon is on CAN Bus with device ID 0
import phoenix5
import ctre.sensors
self.gyro = ctre.WPI_PigeonIMU(0); # Pigeon is on CAN Bus with device ID 0
# OR (choose one or the other based on your connection)
talon = TalonSRX(0); # TalonSRX is on CAN Bus with device ID 0
gyro = WPI_PigeonIMU(talon) # Pigeon uses the talon created above
talon = ctre.TalonSRX(0); # TalonSRX is on CAN Bus with device ID 0
self.gyro = ctre.WPI_PigeonIMU(talon) # Pigeon uses the talon created above
Using gyros in code
-------------------
Expand Down Expand Up @@ -195,11 +200,11 @@ Displaying the robot heading on the dashboard
from wpilib.shuffleboard import Shuffleboard
# Use gyro declaration from above here
def robotInit(self):
# Use gyro declaration from above here
# Places a compass indicator for the gyro heading on the dashboard
Shuffleboard.getTab("Example tab").add(gyro)
Shuffleboard.getTab("Example tab").add(self.gyro)
Stabilizing heading while driving
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Expand Down Expand Up @@ -286,31 +291,31 @@ The following example shows how to stabilize heading using a simple P loop close
from wpilib import MotorControllerGroup
from wpilib.drive import DifferentialDrive
# Use gyro declaration from above here
def robotInit(self):
# Use gyro declaration from above here
# The gain for a simple P loop
kP = 1
# The gain for a simple P loop
self.kP = 1
# Initialize motor controllers and drive
left1 = Spark(0)
left2 = Spark(1)
right1 = Spark(2)
right2 = Spark(3)
# Initialize motor controllers and drive
left1 = Spark(0)
left2 = Spark(1)
right1 = Spark(2)
right2 = Spark(3)
leftMotors = MotorControllerGroup(left1, left2)
rightMotors = MotorControllerGroup(right1, right2)
leftMotors = MotorControllerGroup(left1, left2)
rightMotors = MotorControllerGroup(right1, right2)
drive = DifferentialDrive(leftMotors, rightMotors)
self.drive = DifferentialDrive(leftMotors, rightMotors)
def robotInit(self):
rightMotors.setInverted(true)
def autonomousPeriodic(self):
# Setpoint is implicitly 0, since we don't want the heading to change
error = -gyro.getRate()
error = -self.gyro.getRate()
# Drives forward continuously at half speed, using the gyro to stabilize the heading
drive.tankDrive(.5 + kP * error, .5 - kP * error)
self.drive.tankDrive(.5 + self.kP * error, .5 - self.kP * error)
More-advanced implementations can use a more-complicated control loop. When closing the loop on the turn rate for heading stabilization, PI loops are particularly effective.

Expand Down Expand Up @@ -405,34 +410,34 @@ The following example shows how to stabilize heading using a simple P loop close
from wpilib import MotorControllerGroup
from wpilib.drive import DifferentialDrive
# Use gyro declaration from above here
def robotInit(self):
# Use gyro declaration from above here
# The gain for a simple P loop
kP = 1
# The gain for a simple P loop
self.kP = 1
# Initialize motor controllers and drive
left1 = Spark(0)
left2 = Spark(1)
right1 = Spark(2)
right2 = Spark(3)
# Initialize motor controllers and drive
left1 = Spark(0)
left2 = Spark(1)
right1 = Spark(2)
right2 = Spark(3)
leftMotors = MotorControllerGroup(left1, left2)
rightMotors = MotorControllerGroup(right1, right2)
leftMotors = MotorControllerGroup(left1, left2)
rightMotors = MotorControllerGroup(right1, right2)
drive = DifferentialDrive(leftMotors, rightMotors)
self.drive = DifferentialDrive(leftMotors, rightMotors)
def robotInit(self):
rightMotors.setInverted(true)
def autonomousInit(self):
# Set setpoint to current heading at start of auto
heading = gyro.getAngle()
self.heading = self.gyro.getAngle()
def autonomousPeriodic(self):
error = heading - gyro.getAngle()
error = self.heading - self.gyro.getAngle()
# Drives forward continuously at half speed, using the gyro to stabilize the heading
drive.tankDrive(.5 + kP * error, .5 - kP * error)
self.drive.tankDrive(.5 + self.kP * error, .5 - self.kP * error)
More-advanced implementations can use a more-complicated control loop. When closing the loop on the heading for heading stabilization, PD loops are particularly effective.

Expand Down Expand Up @@ -514,31 +519,31 @@ Much like with heading stabilization, this is often accomplished with a PID loop
from wpilib import MotorControllerGroup
from wpilib.drive import DifferentialDrive
# Use gyro declaration from above here
def robotInit(self):
# Use gyro declaration from above here
# The gain for a simple P loop
kP = 0.05
# The gain for a simple P loop
self.kP = 0.05
# Initialize motor controllers and drive
left1 = Spark(0)
left2 = Spark(1)
right1 = Spark(2)
right2 = Spark(3)
# Initialize motor controllers and drive
left1 = Spark(0)
left2 = Spark(1)
right1 = Spark(2)
right2 = Spark(3)
leftMotors = MotorControllerGroup(left1, left2)
rightMotors = MotorControllerGroup(right1, right2)
leftMotors = MotorControllerGroup(left1, left2)
rightMotors = MotorControllerGroup(right1, right2)
drive = DifferentialDrive(leftMotors, rightMotors)
self.drive = DifferentialDrive(leftMotors, rightMotors)
def robotInit(self):
rightMotors.setInverted(true)
def autonomousPeriodic(self):
# Find the heading error; setpoint is 90
double error = 90 - gyro.getAngle()
error = 90 - self.gyro.getAngle()
# Drives forward continuously at half speed, using the gyro to stabilize the heading
drive.tankDrive(kP * error, -kP * error)
self.drive.tankDrive(self.kP * error, -self.kP * error)
As before, more-advanced implementations can use more-complicated control loops.

Expand Down

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