Remove AnalogGyro from examples

Some todos/fixups to address later

Author: rzblue

wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Drivetrain.cpp

@@ -22,7 +22,7 @@ void Drivetrain::Drive(units::meters_per_second_t xSpeed,
 }
 
 void Drivetrain::UpdateOdometry() {
-  m_odometry.Update(m_gyro.GetRotation2d(),
+  m_odometry.Update(m_imu.GetRotation2d(),
                     units::meter_t{m_leftEncoder.GetDistance()},
                     units::meter_t{m_rightEncoder.GetDistance()});
 }

wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h

@@ -6,8 +6,8 @@
 
 #include <numbers>
 
-#include <frc/AnalogGyro.h>
 #include <frc/Encoder.h>
+#include <frc/OnboardIMU.h>
 #include <frc/controller/PIDController.h>
 #include <frc/controller/SimpleMotorFeedforward.h>
 #include <frc/kinematics/DifferentialDriveKinematics.h>
@@ -32,7 +32,7 @@ class Drivetrain {
     // gearbox is constructed, you might have to invert the left side instead.
     m_rightLeader.SetInverted(true);
 
-    m_gyro.Reset();
+    m_imu.ResetYaw();
     // Set the distance per pulse for the drive encoders. We can simply use the
     // distance traveled for one rotation of the wheel divided by the encoder
     // resolution.
@@ -71,11 +71,11 @@ class Drivetrain {
   frc::PIDController m_leftPIDController{1.0, 0.0, 0.0};
   frc::PIDController m_rightPIDController{1.0, 0.0, 0.0};
 
-  frc::AnalogGyro m_gyro{0};
+  frc::OnboardIMU m_imu{frc::OnboardIMU::kFlat};
 
   frc::DifferentialDriveKinematics m_kinematics{kTrackwidth};
   frc::DifferentialDriveOdometry m_odometry{
-      m_gyro.GetRotation2d(), units::meter_t{m_leftEncoder.GetDistance()},
+      m_imu.GetRotation2d(), units::meter_t{m_leftEncoder.GetDistance()},
       units::meter_t{m_rightEncoder.GetDistance()}};
 
   // Gains are for example purposes only - must be determined for your own

wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Drivetrain.cpp

@@ -15,7 +15,7 @@ Drivetrain::Drivetrain() {
   // gearbox is constructed, you might have to invert the left side instead.
   m_rightLeader.SetInverted(true);
 
-  m_gyro.Reset();
+  m_imu.ResetYaw();
 
   // Set the distance per pulse for the drive encoders. We can simply use the
   // distance traveled for one rotation of the wheel divided by the encoder
@@ -84,7 +84,7 @@ frc::Pose3d Drivetrain::ObjectToRobotPose(
 }
 
 void Drivetrain::UpdateOdometry() {
-  m_poseEstimator.Update(m_gyro.GetRotation2d(),
+  m_poseEstimator.Update(m_imu.GetRotation2d(),
                          units::meter_t{m_leftEncoder.GetDistance()},
                          units::meter_t{m_rightEncoder.GetDistance()});
 
@@ -125,6 +125,7 @@ void Drivetrain::SimulationPeriodic() {
       m_drivetrainSimulator.GetRightPosition().value());
   m_rightEncoderSim.SetRate(m_drivetrainSimulator.GetRightVelocity().value());
   // m_gyroSim.SetAngle(-m_drivetrainSimulator.GetHeading().Degrees().value());
+  // // TODO(Ryan): fixup when sim implemented
 }
 
 void Drivetrain::Periodic() {

wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h

@@ -6,9 +6,9 @@
 
 #include <numbers>
 
-#include <frc/AnalogGyro.h>
 #include <frc/ComputerVisionUtil.h>
 #include <frc/Encoder.h>
+#include <frc/OnboardIMU.h>
 #include <frc/RobotController.h>
 #include <frc/Timer.h>
 #include <frc/apriltag/AprilTagFieldLayout.h>
@@ -144,15 +144,15 @@ class Drivetrain {
   frc::PIDController m_leftPIDController{1.0, 0.0, 0.0};
   frc::PIDController m_rightPIDController{1.0, 0.0, 0.0};
 
-  frc::AnalogGyro m_gyro{0};
+  frc::OnboardIMU m_imu{frc::OnboardIMU::kFlat};
 
   frc::DifferentialDriveKinematics m_kinematics{kTrackwidth};
 
   // Gains are for example purposes only - must be determined for your own
   // robot!
   frc::DifferentialDrivePoseEstimator m_poseEstimator{
       m_kinematics,
-      m_gyro.GetRotation2d(),
+      m_imu.GetRotation2d(),
       units::meter_t{m_leftEncoder.GetDistance()},
       units::meter_t{m_rightEncoder.GetDistance()},
       frc::Pose2d{},

wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp

@@ -4,8 +4,8 @@
 
 #include <cmath>
 
-#include <frc/AnalogGyro.h>
 #include <frc/Joystick.h>
+#include <frc/OnboardIMU.h>
 #include <frc/TimedRobot.h>
 #include <frc/drive/DifferentialDrive.h>
 #include <frc/motorcontrol/PWMSparkMax.h>
@@ -18,7 +18,6 @@
 class Robot : public frc::TimedRobot {
  public:
   Robot() {
-    m_gyro.SetSensitivity(kVoltsPerDegreePerSecond);
     // We need to invert one side of the drivetrain so that positive voltages
     // result in both sides moving forward. Depending on how your robot's
     // gearbox is constructed, you might have to invert the left side instead.
@@ -34,29 +33,26 @@ class Robot : public frc::TimedRobot {
    * angle.
    */
   void TeleopPeriodic() override {
-    double turningValue = (kAngleSetpoint - m_gyro.GetAngle()) * kP;
+    double turningValue =
+        (kAngleSetpoint - m_imu.GetRotation2d().Degrees().value()) * kP;
     m_drive.ArcadeDrive(-m_joystick.GetY(), -turningValue);
   }
 
  private:
   static constexpr double kAngleSetpoint = 0.0;
   static constexpr double kP = 0.005;  // Proportional turning constant
 
-  // Gyro calibration constant, may need to be adjusted. Gyro value of 360 is
-  // set to correspond to one full revolution.
-  static constexpr double kVoltsPerDegreePerSecond = 0.0128;
-
   static constexpr int kLeftMotorPort = 0;
   static constexpr int kRightMotorPort = 1;
-  static constexpr int kGyroPort = 0;
+  static constexpr frc::OnboardIMU::MountOrientation kIMUMountOrientation = frc::OnboardIMU::kFlat;
   static constexpr int kJoystickPort = 0;
 
   frc::PWMSparkMax m_left{kLeftMotorPort};
   frc::PWMSparkMax m_right{kRightMotorPort};
   frc::DifferentialDrive m_drive{[&](double output) { m_left.Set(output); },
                                  [&](double output) { m_right.Set(output); }};
 
-  frc::AnalogGyro m_gyro{kGyroPort};
+  frc::OnboardIMU m_imu{kIMUMountOrientation};
   frc::Joystick m_joystick{kJoystickPort};
 };
 

wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp

@@ -2,8 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <frc/AnalogGyro.h>
 #include <frc/Joystick.h>
+#include <frc/OnboardIMU.h>
 #include <frc/TimedRobot.h>
 #include <frc/drive/MecanumDrive.h>
 #include <frc/motorcontrol/PWMSparkMax.h>
@@ -25,28 +25,22 @@ class Robot : public frc::TimedRobot {
     // match your robot.
     m_frontRight.SetInverted(true);
     m_rearRight.SetInverted(true);
-
-    m_gyro.SetSensitivity(kVoltsPerDegreePerSecond);
   }
 
   /**
    * Mecanum drive is used with the gyro angle as an input.
    */
   void TeleopPeriodic() override {
     m_robotDrive.DriveCartesian(-m_joystick.GetY(), -m_joystick.GetX(),
-                                -m_joystick.GetZ(), m_gyro.GetRotation2d());
+                                -m_joystick.GetZ(), m_imu.GetRotation2d());
   }
 
  private:
-  // Gyro calibration constant, may need to be adjusted. Gyro value of 360 is
-  // set to correspond to one full revolution.
-  static constexpr double kVoltsPerDegreePerSecond = 0.0128;
-
   static constexpr int kFrontLeftMotorPort = 0;
   static constexpr int kRearLeftMotorPort = 1;
   static constexpr int kFrontRightMotorPort = 2;
   static constexpr int kRearRightMotorPort = 3;
-  static constexpr int kGyroPort = 0;
+  static constexpr frc::OnboardIMU::MountOrientation kIMUMountOrientation = frc::OnboardIMU::kFlat;
   static constexpr int kJoystickPort = 0;
 
   frc::PWMSparkMax m_frontLeft{kFrontLeftMotorPort};
@@ -59,7 +53,7 @@ class Robot : public frc::TimedRobot {
       [&](double output) { m_frontRight.Set(output); },
       [&](double output) { m_rearRight.Set(output); }};
 
-  frc::AnalogGyro m_gyro{kGyroPort};
+  frc::OnboardIMU m_imu{kIMUMountOrientation};
   frc::Joystick m_joystick{kJoystickPort};
 };
 

wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Drivetrain.cpp

@@ -55,12 +55,12 @@ void Drivetrain::Drive(units::meters_per_second_t xSpeed,
                        units::second_t period) {
   frc::ChassisSpeeds chassisSpeeds{xSpeed, ySpeed, rot};
   if (fieldRelative) {
-    chassisSpeeds = chassisSpeeds.ToRobotRelative(m_gyro.GetRotation2d());
+    chassisSpeeds = chassisSpeeds.ToRobotRelative(m_imu.GetRotation2d());
   }
   SetSpeeds(m_kinematics.ToWheelSpeeds(chassisSpeeds.Discretize(period))
                 .Desaturate(kMaxSpeed));
 }
 
 void Drivetrain::UpdateOdometry() {
-  m_odometry.Update(m_gyro.GetRotation2d(), GetCurrentWheelDistances());
+  m_odometry.Update(m_imu.GetRotation2d(), GetCurrentWheelDistances());
 }

wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h

@@ -6,8 +6,8 @@
 
 #include <numbers>
 
-#include <frc/AnalogGyro.h>
 #include <frc/Encoder.h>
+#include <frc/OnboardIMU.h>
 #include <frc/controller/PIDController.h>
 #include <frc/controller/SimpleMotorFeedforward.h>
 #include <frc/geometry/Translation2d.h>
@@ -22,7 +22,7 @@
 class Drivetrain {
  public:
   Drivetrain() {
-    m_gyro.Reset();
+    m_imu.ResetYaw();
     // We need to invert one side of the drivetrain so that positive voltages
     // result in both sides moving forward. Depending on how your robot's
     // gearbox is constructed, you might have to invert the left side instead.
@@ -64,13 +64,13 @@ class Drivetrain {
   frc::PIDController m_backLeftPIDController{1.0, 0.0, 0.0};
   frc::PIDController m_backRightPIDController{1.0, 0.0, 0.0};
 
-  frc::AnalogGyro m_gyro{0};
+  frc::OnboardIMU m_imu{frc::OnboardIMU::kFlat};
 
   frc::MecanumDriveKinematics m_kinematics{
       m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,
       m_backRightLocation};
 
-  frc::MecanumDriveOdometry m_odometry{m_kinematics, m_gyro.GetRotation2d(),
+  frc::MecanumDriveOdometry m_odometry{m_kinematics, m_imu.GetRotation2d(),
                                        GetCurrentWheelDistances()};
 
   // Gains are for example purposes only - must be determined for your own

wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Drivetrain.cpp

@@ -58,7 +58,9 @@ void Drivetrain::Drive(units::meters_per_second_t xSpeed,
 }
 
 void Drivetrain::UpdateOdometry() {
-  m_poseEstimator.Update(m_gyro.GetRotation2d(), GetCurrentDistances());
+  m_poseEstimator.Update(
+      m_imu.GetRotation2d(),
+      GetCurrentDistances());  // TODO(Ryan): fixup when sim implemented
 
   // Also apply vision measurements. We use 0.3 seconds in the past as an
   // example -- on a real robot, this must be calculated based either on latency

wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.h

@@ -6,8 +6,8 @@
 
 #include <numbers>
 
-#include <frc/AnalogGyro.h>
 #include <frc/Encoder.h>
+#include <frc/OnboardIMU.h>
 #include <frc/controller/PIDController.h>
 #include <frc/controller/SimpleMotorFeedforward.h>
 #include <frc/estimator/MecanumDrivePoseEstimator.h>
@@ -23,7 +23,7 @@
 class Drivetrain {
  public:
   Drivetrain() {
-    m_gyro.Reset();
+    m_imu.ResetYaw();
     // We need to invert one side of the drivetrain so that positive voltages
     // result in both sides moving forward. Depending on how your robot's
     // gearbox is constructed, you might have to invert the left side instead.
@@ -64,7 +64,7 @@ class Drivetrain {
   frc::PIDController m_backLeftPIDController{1.0, 0.0, 0.0};
   frc::PIDController m_backRightPIDController{1.0, 0.0, 0.0};
 
-  frc::AnalogGyro m_gyro{0};
+  frc::OnboardIMU m_imu{frc::OnboardIMU::kFlat};
 
   frc::MecanumDriveKinematics m_kinematics{
       m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,
@@ -77,6 +77,6 @@ class Drivetrain {
   // Gains are for example purposes only - must be determined for your own
   // robot!
   frc::MecanumDrivePoseEstimator m_poseEstimator{
-      m_kinematics,  m_gyro.GetRotation2d(), GetCurrentDistances(),
-      frc::Pose2d{}, {0.1, 0.1, 0.1},        {0.1, 0.1, 0.1}};
+      m_kinematics,  m_imu.GetRotation2d(), GetCurrentDistances(),
+      frc::Pose2d{}, {0.1, 0.1, 0.1},       {0.1, 0.1, 0.1}};
 };