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Merge "Add support for ADXL362 SPI accelerometer."

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Brad Miller (WPI)
2015-12-02 06:14:35 -08:00
committed by Gerrit Code Review
parent e9f98b28cc c59e08ee9f
commit 01b64b5bd5
4 changed files with 479 additions and 0 deletions
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62
wpilibc/Athena/include/ADXL362.h Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "interfaces/Accelerometer.h"
#include "SensorBase.h"
#include "SPI.h"
#include "LiveWindow/LiveWindowSendable.h"
#include <memory>
class DigitalInput;
class DigitalOutput;
/**
* ADXL362 SPI Accelerometer.
*
* This class allows access to an Analog Devices ADXL362 3-axis accelerometer.
*/
class ADXL362 : public Accelerometer, public LiveWindowSendable {
public:
enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
struct AllAxes {
double XAxis;
double YAxis;
double ZAxis;
};
public:
ADXL362(Range range = kRange_2G);
ADXL362(SPI::Port port, Range range = kRange_2G);
virtual ~ADXL362() = default;
ADXL362(const ADXL362&) = delete;
ADXL362& operator=(const ADXL362&) = delete;
// Accelerometer interface
virtual void SetRange(Range range) override;
virtual double GetX() override;
virtual double GetY() override;
virtual double GetZ() override;
virtual double GetAcceleration(Axes axis);
virtual AllAxes GetAccelerations();
virtual std::string GetSmartDashboardType() const override;
virtual void InitTable(std::shared_ptr<ITable> subtable) override;
virtual void UpdateTable() override;
virtual std::shared_ptr<ITable> GetTable() const override;
virtual void StartLiveWindowMode() override {}
virtual void StopLiveWindowMode() override {}
private:
SPI m_spi;
double m_gsPerLSB = 0.001;
std::shared_ptr<ITable> m_table;
};

1
wpilibc/Athena/include/WPILib.h
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@@ -13,6 +13,7 @@
#include "ADXL345_I2C.h"
#include "ADXL345_SPI.h"
#include "ADXL362.h"
#include "AnalogAccelerometer.h"
#include "AnalogGyro.h"
#include "AnalogInput.h"