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[wpilibc] Move ADIS IMU constants to inside class (#3852)

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This commit is contained in:
Matteo Kimura
2022-01-01 13:40:28 -06:00
committed by GitHub
parent ecee224e81
commit 112acb9a62
3 changed files with 213 additions and 212 deletions
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7
wpilibc/src/main/native/cpp/ADIS_16470_IMU.cpp
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@@ -63,11 +63,10 @@ inline void ADISReportError(int32_t status, const char* file, int line,
* Constructor.
*/
ADIS16470_IMU::ADIS16470_IMU()
: ADIS16470_IMU(kZ, SPI::Port::kOnboardCS0, ADIS16470CalibrationTime::_4s) {
}
: ADIS16470_IMU(kZ, SPI::Port::kOnboardCS0, CalibrationTime::_4s) {}
ADIS16470_IMU::ADIS16470_IMU(IMUAxis yaw_axis, SPI::Port port,
ADIS16470CalibrationTime cal_time)
CalibrationTime cal_time)
: m_yaw_axis(yaw_axis),
m_spi_port(port),
m_calibration_time(static_cast<uint16_t>(cal_time)) {
@@ -292,7 +291,7 @@ bool ADIS16470_IMU::SwitchToAutoSPI() {
* themselves. After waiting the configured calibration time, the Calibrate()
*function should be called to activate the new offset calibration.
**/
int ADIS16470_IMU::ConfigCalTime(ADIS16470CalibrationTime new_cal_time) {
int ADIS16470_IMU::ConfigCalTime(CalibrationTime new_cal_time) {
if (m_calibration_time == static_cast<uint16_t>(new_cal_time)) {
return 1;
}