Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-01 02:41:48 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

40
wpilibc/src/main/native/include/frc/ADXL362.h
View File

@@ -9,7 +9,6 @@
#include <wpi/sendable/SendableHelper.h>
#include "frc/SPI.h"
#include "frc/interfaces/Accelerometer.h"
namespace frc {
@@ -18,10 +17,10 @@ namespace frc {
*
* This class allows access to an Analog Devices ADXL362 3-axis accelerometer.
*/
class ADXL362 : public Accelerometer,
public nt::NTSendable,
public wpi::SendableHelper<ADXL362> {
class ADXL362 : public nt::NTSendable, public wpi::SendableHelper<ADXL362> {
public:
enum Range { kRange_2G = 0, kRange_4G = 1, kRange_8G = 2 };
enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
struct AllAxes {
double XAxis;
@@ -52,11 +51,34 @@ class ADXL362 : public Accelerometer,
SPI::Port GetSpiPort() 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.