allwpilib/wpilibc/src/main/native/include/AnalogAccelerometer.h

/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2018 FIRST. All Rights Reserved.                        */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

#pragma once

#include <memory>

#include "AnalogInput.h"
#include "PIDSource.h"
#include "SensorBase.h"

namespace frc {

/**
 * Handle operation of an analog accelerometer.
 *
 * The accelerometer reads acceleration directly through the sensor. Many
 * sensors have multiple axis and can be treated as multiple devices. Each is
 * calibrated by finding the center value over a period of time.
 */
class AnalogAccelerometer : public SensorBase, public PIDSource {
 public:
  explicit AnalogAccelerometer(int channel);
  explicit AnalogAccelerometer(AnalogInput* channel);
  explicit AnalogAccelerometer(std::shared_ptr<AnalogInput> channel);
  ~AnalogAccelerometer() override = default;

  double GetAcceleration() const;
  void SetSensitivity(double sensitivity);
  void SetZero(double zero);
  double PIDGet() override;

  void InitSendable(SendableBuilder& builder) override;

 private:
  void InitAccelerometer();

  std::shared_ptr<AnalogInput> m_analogInput;
  double m_voltsPerG = 1.0;
  double m_zeroGVoltage = 2.5;
};

}  // namespace frc