Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +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

11
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/BuiltInAccelerometerTest.java
View File

@@ -6,7 +6,6 @@ package edu.wpi.first.wpilibj;
import static org.junit.Assert.assertEquals;
import edu.wpi.first.wpilibj.interfaces.Accelerometer;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import java.util.Arrays;
import java.util.Collection;
@@ -23,7 +22,7 @@ public class BuiltInAccelerometerTest extends AbstractComsSetup {
private static final double kAccelerationTolerance = 0.1;
private final BuiltInAccelerometer m_accelerometer;
public BuiltInAccelerometerTest(Accelerometer.Range range) {
public BuiltInAccelerometerTest(BuiltInAccelerometer.Range range) {
m_accelerometer = new BuiltInAccelerometer(range);
}
@@ -38,10 +37,12 @@ public class BuiltInAccelerometerTest extends AbstractComsSetup {
/** Test with all valid ranges to make sure unpacking is always done correctly. */
@Parameters
public static Collection<Accelerometer.Range[]> generateData() {
public static Collection<BuiltInAccelerometer.Range[]> generateData() {
return Arrays.asList(
new Accelerometer.Range[][] {
{Accelerometer.Range.k2G}, {Accelerometer.Range.k4G}, {Accelerometer.Range.k8G}
new BuiltInAccelerometer.Range[][] {
{BuiltInAccelerometer.Range.k2G},
{BuiltInAccelerometer.Range.k4G},
{BuiltInAccelerometer.Range.k8G}
});
}