Initial checkin of unified hierarchy of WPILib 2015

wpilibc/src/main/native/HiTechnicCompass.cpp

@@ -0,0 +1,108 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. All Rights Reserved.							  */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
+/*----------------------------------------------------------------------------*/
+
+#include "HiTechnicCompass.h"
+#include "DigitalModule.h"
+#include "I2C.h"
+#include "NetworkCommunication/UsageReporting.h"
+#include "WPIErrors.h"
+#include "LiveWindow/LiveWindow.h"
+
+const uint8_t HiTechnicCompass::kAddress;
+const uint8_t HiTechnicCompass::kManufacturerBaseRegister;
+const uint8_t HiTechnicCompass::kManufacturerSize;
+const uint8_t HiTechnicCompass::kSensorTypeBaseRegister;
+const uint8_t HiTechnicCompass::kSensorTypeSize;
+const uint8_t HiTechnicCompass::kHeadingRegister;
+
+/**
+ * Constructor.
+ * 
+ * @param moduleNumber The digital module that the sensor is plugged into (1 or 2).
+ */
+HiTechnicCompass::HiTechnicCompass(uint8_t moduleNumber)
+	: m_i2c (NULL)
+{
+	m_table = NULL;
+	DigitalModule *module = DigitalModule::GetInstance(moduleNumber);
+	if (module)
+	{
+		m_i2c = module->GetI2C(kAddress);
+	
+		// Verify Sensor
+		const uint8_t kExpectedManufacturer[] = "HiTechnc";
+		const uint8_t kExpectedSensorType[] = "Compass ";
+		if ( ! m_i2c->VerifySensor(kManufacturerBaseRegister, kManufacturerSize, kExpectedManufacturer) )
+		{
+			wpi_setWPIError(CompassManufacturerError);
+			return;
+		}
+		if ( ! m_i2c->VerifySensor(kSensorTypeBaseRegister, kSensorTypeSize, kExpectedSensorType) )
+		{
+			wpi_setWPIError(CompassTypeError);
+		}
+
+		nUsageReporting::report(nUsageReporting::kResourceType_HiTechnicCompass, moduleNumber - 1);
+		LiveWindow::GetInstance()->AddSensor("HiTechnicCompass", moduleNumber, 0, this);
+	}
+}
+
+/**
+ * Destructor.
+ */
+HiTechnicCompass::~HiTechnicCompass()
+{
+	delete m_i2c;
+	m_i2c = NULL;
+}
+
+/**
+ * Get the compass angle in degrees.
+ * 
+ * The resolution of this reading is 1 degree.
+ * 
+ * @return Angle of the compass in degrees.
+ */
+float HiTechnicCompass::GetAngle()
+{
+	uint16_t heading = 0;
+	if (m_i2c)
+	{
+		m_i2c->Read(kHeadingRegister, sizeof(heading), (uint8_t *)&heading);
+
+		// Sensor is little endian... swap bytes
+		heading = (heading >> 8) | (heading << 8);
+	}
+	return (float)heading;
+}
+
+void HiTechnicCompass::UpdateTable() {
+	if (m_table != NULL) {
+		m_table->PutNumber("Value", GetAngle());
+	}
+}
+
+void HiTechnicCompass::StartLiveWindowMode() {
+	
+}
+
+void HiTechnicCompass::StopLiveWindowMode() {
+	
+}
+
+std::string HiTechnicCompass::GetSmartDashboardType() {
+	return "HiTechnicCompass";
+}
+
+void HiTechnicCompass::InitTable(ITable *subTable) {
+	m_table = subTable;
+	UpdateTable();
+}
+
+ITable * HiTechnicCompass::GetTable() {
+	return m_table;
+}
+