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Added an Accelerometer interface

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ADXL345_I2C, ADXL345_SPI, and BuiltInAccelerometer implement this interface.

The analog accelerometer class Accelerometer was renamed to
AnalogAccelerometer.

Change-Id: Iaae79d582a24c36c372f5fd4ea6df37be289b9c1
This commit is contained in:
thomasclark
2014-07-22 18:04:00 -04:00
parent fbf196763f
commit 41c2b9402c
15 changed files with 504 additions and 274 deletions
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22
wpilibc/wpilibC++/lib/BuiltInAccelerometer.cpp
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@@ -6,6 +6,7 @@
#include "BuiltInAccelerometer.h"
#include "HAL/HAL.hpp"
#include "WPIErrors.h"
/**
* Constructor.
@@ -14,17 +15,28 @@
BuiltInAccelerometer::BuiltInAccelerometer(Range range)
: m_table(0)
{
SetRange(range);
HALReport(HALUsageReporting::kResourceType_Accelerometer, 0, 0, "Built-in accelerometer");
}
/** {@inheritdoc} */
void BuiltInAccelerometer::SetRange(Range range)
{
if(range == kRange_16G)
{
wpi_setWPIErrorWithContext(ParameterOutOfRange, "16G range not supported (use k2G, k4G, or k8G)");
}
setAccelerometerActive(false);
setAccelerometerRange((AccelerometerRange)range);
setAccelerometerActive(true);
HALReport(HALUsageReporting::kResourceType_Accelerometer, 0, 0, "Built-in accelerometer");
}
/**
* @return The acceleration of the RoboRIO along the X axis in g-forces
*/
double BuiltInAccelerometer::GetX() const
double BuiltInAccelerometer::GetX()
{
return getAccelerometerX();
}
@@ -32,7 +44,7 @@ double BuiltInAccelerometer::GetX() const
/**
* @return The acceleration of the RoboRIO along the Y axis in g-forces
*/
double BuiltInAccelerometer::GetY() const
double BuiltInAccelerometer::GetY()
{
return getAccelerometerY();
}
@@ -40,7 +52,7 @@ double BuiltInAccelerometer::GetY() const
/**
* @return The acceleration of the RoboRIO along the Z axis in g-forces
*/
double BuiltInAccelerometer::GetZ() const
double BuiltInAccelerometer::GetZ()
{
return getAccelerometerZ();
}