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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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19
wpilibc/src/main/native/include/frc/BuiltInAccelerometer.h
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@@ -7,8 +7,6 @@
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
#include "frc/interfaces/Accelerometer.h"
namespace frc {
/**
@@ -16,10 +14,11 @@ namespace frc {
*
* This class allows access to the roboRIO's internal accelerometer.
*/
class BuiltInAccelerometer : public Accelerometer,
public wpi::Sendable,
class BuiltInAccelerometer : public wpi::Sendable,
public wpi::SendableHelper<BuiltInAccelerometer> {
public:
enum Range { kRange_2G = 0, kRange_4G = 1, kRange_8G = 2 };
/**
* Constructor.
*
@@ -30,30 +29,28 @@ class BuiltInAccelerometer : public Accelerometer,
BuiltInAccelerometer(BuiltInAccelerometer&&) = default;
BuiltInAccelerometer& operator=(BuiltInAccelerometer&&) = default;
// Accelerometer interface
/**
* Set the measuring range of the accelerometer.
*
* @param range The maximum acceleration, positive or negative, that the
* accelerometer will measure. Not all accelerometers support all
* ranges.
* accelerometer will measure.
*/
void SetRange(Range range) final;
void SetRange(Range range);
/**
* @return The acceleration of the roboRIO along the X axis in g-forces
*/
double GetX() override;
double GetX();
/**
* @return The acceleration of the roboRIO along the Y axis in g-forces
*/
double GetY() override;
double GetY();
/**
* @return The acceleration of the roboRIO along the Z axis in g-forces
*/
double GetZ() override;
double GetZ();
void InitSendable(wpi::SendableBuilder& builder) override;
};