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Merge "Make 3 axis Accelerometers work in LiveWindow. Fixes artf3902."

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This commit is contained in:
Brad Miller (WPI)
2014-12-30 21:05:26 -08:00
committed by Gerrit Code Review
parent fb7f5e9de8 7db63055f6
commit 359a155915
8 changed files with 140 additions and 7 deletions
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35
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/ADXL345_I2C.java
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@@ -10,12 +10,15 @@ import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tInst
import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
import edu.wpi.first.wpilibj.communication.UsageReporting;
import edu.wpi.first.wpilibj.interfaces.Accelerometer;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
import edu.wpi.first.wpilibj.tables.ITable;
/**
*
* @author dtjones
*/
public class ADXL345_I2C extends SensorBase implements Accelerometer {
public class ADXL345_I2C extends SensorBase implements Accelerometer, LiveWindowSendable {
private static final byte kAddress = 0x1D;
private static final byte kPowerCtlRegister = 0x2D;
@@ -65,6 +68,7 @@ public class ADXL345_I2C extends SensorBase implements Accelerometer {
setRange(range);
UsageReporting.report(tResourceType.kResourceType_ADXL345, tInstances.kADXL345_I2C);
LiveWindow.addSensor("ADXL345_I2C", port.getValue(), this);
}
/** {inheritdoc} */
@@ -146,5 +150,32 @@ public class ADXL345_I2C extends SensorBase implements Accelerometer {
return data;
}
// TODO: Support LiveWindow
public String getSmartDashboardType(){
return "3AxisAccelerometer";
}
private ITable m_table;
/** {@inheritDoc} */
public void initTable(ITable subtable) {
m_table = subtable;
updateTable();
}
/** {@inheritDoc} */
public void updateTable() {
if (m_table != null) {
m_table.putNumber("X", getX());
m_table.putNumber("Y", getY());
m_table.putNumber("Z", getZ());
}
}
/** {@inheritDoc} */
public ITable getTable(){
return m_table;
}
public void startLiveWindowMode() {}
public void stopLiveWindowMode() {}
}

35
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/ADXL345_SPI.java
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@@ -13,13 +13,16 @@ import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tInst
import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
import edu.wpi.first.wpilibj.communication.UsageReporting;
import edu.wpi.first.wpilibj.interfaces.Accelerometer;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
import edu.wpi.first.wpilibj.tables.ITable;
/**
*
* @author dtjones
* @author mwills
*/
public class ADXL345_SPI extends SensorBase implements Accelerometer {
public class ADXL345_SPI extends SensorBase implements Accelerometer, LiveWindowSendable {
private static final int kPowerCtlRegister = 0x2D;
private static final int kDataFormatRegister = 0x31;
private static final int kDataRegister = 0x32;
@@ -75,6 +78,7 @@ public class ADXL345_SPI extends SensorBase implements Accelerometer {
public ADXL345_SPI(SPI.Port port, Range range) {
m_spi = new SPI(port);
init(range);
LiveWindow.addSensor("ADXL345_SPI", port.getValue(), this);
}
public void free(){
@@ -190,4 +194,33 @@ public class ADXL345_SPI extends SensorBase implements Accelerometer {
}
return data;
}
public String getSmartDashboardType(){
return "3AxisAccelerometer";
}
private ITable m_table;
/** {@inheritDoc} */
public void initTable(ITable subtable) {
m_table = subtable;
updateTable();
}
/** {@inheritDoc} */
public void updateTable() {
if (m_table != null) {
m_table.putNumber("X", getX());
m_table.putNumber("Y", getY());
m_table.putNumber("Z", getZ());
}
}
/** {@inheritDoc} */
public ITable getTable(){
return m_table;
}
public void startLiveWindowMode() {}
public void stopLiveWindowMode() {}
}

3
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/BuiltInAccelerometer.java
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@@ -26,6 +26,7 @@ public class BuiltInAccelerometer implements Accelerometer, LiveWindowSendable
public BuiltInAccelerometer(Range range) {
setRange(range);
UsageReporting.report(tResourceType.kResourceType_Accelerometer, 0, 0, "Built-in accelerometer");
LiveWindow.addSensor("BuiltInAccel", 0, this);
}
/**
@@ -83,7 +84,7 @@ public class BuiltInAccelerometer implements Accelerometer, LiveWindowSendable
}
public String getSmartDashboardType(){
return "Accelerometer";
return "3AxisAccelerometer";
}
private ITable m_table;