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Classes which use I2C or SPI now do so via composition rather than inheritance (#72)

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This commit is contained in:
Tyler Veness
2016-05-26 21:37:23 -07:00
committed by Peter Johnson
parent 9f2f301fa4
commit 51ff9e9f69
6 changed files with 29 additions and 25 deletions
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13
wpilibc/athena/src/ADXL345_I2C.cpp
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@@ -23,10 +23,10 @@ constexpr double ADXL345_I2C::kGsPerLSB;
* @param range The range (+ or -) that the accelerometer will measure
* @param deviceAddress The I2C address of the accelerometer (0x1D or 0x53)
*/
ADXL345_I2C::ADXL345_I2C(Port port, Range range, int deviceAddress)
: I2C(port, deviceAddress) {
ADXL345_I2C::ADXL345_I2C(I2C::Port port, Range range, int deviceAddress)
: m_i2c(port, deviceAddress) {
// Turn on the measurements
Write(kPowerCtlRegister, kPowerCtl_Measure);
m_i2c.Write(kPowerCtlRegister, kPowerCtl_Measure);
// Specify the data format to read
SetRange(range);
@@ -36,7 +36,7 @@ ADXL345_I2C::ADXL345_I2C(Port port, Range range, int deviceAddress)
}
void ADXL345_I2C::SetRange(Range range) {
Write(kDataFormatRegister, kDataFormat_FullRes | (uint8_t)range);
m_i2c.Write(kDataFormatRegister, kDataFormat_FullRes | (uint8_t)range);
}
double ADXL345_I2C::GetX() { return GetAcceleration(kAxis_X); }
@@ -53,7 +53,8 @@ double ADXL345_I2C::GetZ() { return GetAcceleration(kAxis_Z); }
*/
double ADXL345_I2C::GetAcceleration(ADXL345_I2C::Axes axis) {
int16_t rawAccel = 0;
Read(kDataRegister + (uint8_t)axis, sizeof(rawAccel), (uint8_t*)&rawAccel);
m_i2c.Read(kDataRegister + (uint8_t)axis, sizeof(rawAccel),
(uint8_t*)&rawAccel);
return rawAccel * kGsPerLSB;
}
@@ -66,7 +67,7 @@ double ADXL345_I2C::GetAcceleration(ADXL345_I2C::Axes axis) {
ADXL345_I2C::AllAxes ADXL345_I2C::GetAccelerations() {
AllAxes data = AllAxes();
int16_t rawData[3];
Read(kDataRegister, sizeof(rawData), (uint8_t*)rawData);
m_i2c.Read(kDataRegister, sizeof(rawData), (uint8_t*)rawData);
data.XAxis = rawData[0] * kGsPerLSB;
data.YAxis = rawData[1] * kGsPerLSB;