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[wpilib] Deprecate Accelerometer and Gyro interfaces (#5445)

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Accelerometer is hyper-specific to ADXL accelerometers, and Gyro is
less useful now that 3D IMUs are prevalent, and if those IMUs want to
support the Gyro interface, they also need to provide a way to set the
axis used for the Gyro interface, which is confusing. Higher-order
functions (e.g., lambdas) are a more flexible interface boundary than
interfaces, but they didn't exist when these interfaces were
created.
This commit is contained in:
Tyler Veness
2023-07-18 12:52:43 -07:00
committed by GitHub
parent 70b60e3a74
commit 14f30752ab
32 changed files with 426 additions and 152 deletions
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39
wpilibc/src/main/native/include/frc/ADXL345_I2C.h
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@@ -9,7 +9,6 @@
#include <wpi/sendable/SendableHelper.h>
#include "frc/I2C.h"
#include "frc/interfaces/Accelerometer.h"
namespace frc {
@@ -24,10 +23,11 @@ namespace frc {
* href="https://docs.wpilib.org/en/stable/docs/yearly-overview/known-issues.html#onboard-i2c-causing-system-lockups">
* WPILib Known Issues</a> page for details.
*/
class ADXL345_I2C : public Accelerometer,
public nt::NTSendable,
class ADXL345_I2C : public nt::NTSendable,
public wpi::SendableHelper<ADXL345_I2C> {
public:
enum Range { kRange_2G = 0, kRange_4G = 1, kRange_8G = 2, kRange_16G = 3 };
enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
struct AllAxes {
@@ -53,11 +53,34 @@ class ADXL345_I2C : public Accelerometer,
I2C::Port GetI2CPort() const;
int GetI2CDeviceAddress() const;
// Accelerometer interface
void SetRange(Range range) final;
double GetX() override;
double GetY() override;
double GetZ() override;
/**
* Set the measuring range of the accelerometer.
*
* @param range The maximum acceleration, positive or negative, that the
* accelerometer will measure.
*/
void SetRange(Range range);
/**
* Returns the acceleration along the X axis in g-forces.
*
* @return The acceleration along the X axis in g-forces.
*/
double GetX();
/**
* Returns the acceleration along the Y axis in g-forces.
*
* @return The acceleration along the Y axis in g-forces.
*/
double GetY();
/**
* Returns the acceleration along the Z axis in g-forces.
*
* @return The acceleration along the Z axis in g-forces.
*/
double GetZ();
/**
* Get the acceleration of one axis in Gs.