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[hal, wpilib] Remove built in accelerometer (#7702)
This commit is contained in:
Thad House
@@ -1,106 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package edu.wpi.first.wpilibj;
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import edu.wpi.first.hal.AccelerometerJNI;
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import edu.wpi.first.hal.FRCNetComm.tResourceType;
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import edu.wpi.first.hal.HAL;
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import edu.wpi.first.util.sendable.Sendable;
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import edu.wpi.first.util.sendable.SendableBuilder;
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import edu.wpi.first.util.sendable.SendableRegistry;
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/**
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* Built-in accelerometer.
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*
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* <p>This class allows access to the roboRIO's internal accelerometer.
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*/
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public class BuiltInAccelerometer implements Sendable, AutoCloseable {
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/** Accelerometer range. */
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public enum Range {
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/** 2 Gs max. */
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k2G,
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/** 4 Gs max. */
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k4G,
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/** 8 Gs max. */
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k8G
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}
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/**
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* Constructor.
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*
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* @param range The range the accelerometer will measure
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*/
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@SuppressWarnings("this-escape")
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public BuiltInAccelerometer(Range range) {
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setRange(range);
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HAL.report(tResourceType.kResourceType_Accelerometer, 0, 0, "Built-in accelerometer");
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SendableRegistry.addLW(this, "BuiltInAccel", 0);
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}
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/** Constructor. The accelerometer will measure +/-8 g-forces */
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public BuiltInAccelerometer() {
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this(Range.k8G);
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}
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@Override
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public void close() {
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SendableRegistry.remove(this);
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}
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/**
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* Set the measuring range of the accelerometer.
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*
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* @param range The maximum acceleration, positive or negative, that the accelerometer will
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* measure.
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*/
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public final void setRange(Range range) {
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AccelerometerJNI.setAccelerometerActive(false);
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int rangeValue =
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switch (range) {
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case k2G -> 0;
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case k4G -> 1;
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case k8G -> 2;
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};
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AccelerometerJNI.setAccelerometerRange(rangeValue);
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AccelerometerJNI.setAccelerometerActive(true);
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}
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/**
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* The acceleration in the X axis.
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*
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* @return The acceleration of the roboRIO along the X axis in g-forces
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*/
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public double getX() {
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return AccelerometerJNI.getAccelerometerX();
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}
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/**
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* The acceleration in the Y axis.
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*
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* @return The acceleration of the roboRIO along the Y axis in g-forces
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*/
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public double getY() {
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return AccelerometerJNI.getAccelerometerY();
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}
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/**
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* The acceleration in the Z axis.
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*
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* @return The acceleration of the roboRIO along the Z axis in g-forces
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*/
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public double getZ() {
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return AccelerometerJNI.getAccelerometerZ();
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}
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@Override
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public void initSendable(SendableBuilder builder) {
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builder.setSmartDashboardType("3AxisAccelerometer");
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builder.addDoubleProperty("X", this::getX, null);
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builder.addDoubleProperty("Y", this::getY, null);
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builder.addDoubleProperty("Z", this::getZ, null);
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}
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}
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@@ -321,13 +321,6 @@ public enum BuiltInWidgets implements WidgetType {
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/**
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* Displays an accelerometer with a number bar displaying the magnitude of the acceleration and
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* text displaying the exact value. <br>
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* Supported types:
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*
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* <ul>
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* <li>{@link edu.wpi.first.wpilibj.AnalogAccelerometer}
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* </ul>
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*
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* <br>
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* Custom properties:
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*
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* <table>
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@@ -1,184 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package edu.wpi.first.wpilibj.simulation;
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import edu.wpi.first.hal.simulation.AccelerometerDataJNI;
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import edu.wpi.first.hal.simulation.NotifyCallback;
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import edu.wpi.first.wpilibj.BuiltInAccelerometer;
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/** Class to control a simulated built-in accelerometer. */
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public class BuiltInAccelerometerSim {
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private final int m_index;
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/** Constructs for the first built-in accelerometer. */
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public BuiltInAccelerometerSim() {
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m_index = 0;
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}
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/**
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* Constructs from a BuiltInAccelerometer object.
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*
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* @param accel BuiltInAccelerometer to simulate
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*/
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@SuppressWarnings("PMD.UnusedFormalParameter")
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public BuiltInAccelerometerSim(BuiltInAccelerometer accel) {
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m_index = 0;
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}
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/**
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* Register a callback to be run when this accelerometer activates.
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*
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* @param callback the callback
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* @param initialNotify whether to run the callback with the initial state
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* @return the {@link CallbackStore} object associated with this callback.
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*/
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public CallbackStore registerActiveCallback(NotifyCallback callback, boolean initialNotify) {
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int uid = AccelerometerDataJNI.registerActiveCallback(m_index, callback, initialNotify);
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return new CallbackStore(m_index, uid, AccelerometerDataJNI::cancelActiveCallback);
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}
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/**
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* Check whether the accelerometer is active.
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*
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* @return true if active
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*/
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public boolean getActive() {
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return AccelerometerDataJNI.getActive(m_index);
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}
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/**
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* Define whether this accelerometer is active.
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*
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* @param active the new state
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*/
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public void setActive(boolean active) {
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AccelerometerDataJNI.setActive(m_index, active);
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}
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/**
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* Register a callback to be run whenever the range changes.
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*
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* @param callback the callback
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* @param initialNotify whether to call the callback with the initial state
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* @return the {@link CallbackStore} object associated with this callback.
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*/
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public CallbackStore registerRangeCallback(NotifyCallback callback, boolean initialNotify) {
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int uid = AccelerometerDataJNI.registerRangeCallback(m_index, callback, initialNotify);
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return new CallbackStore(m_index, uid, AccelerometerDataJNI::cancelRangeCallback);
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}
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/**
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* Check the range of this accelerometer.
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*
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* @return the accelerometer range
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*/
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public int getRange() {
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return AccelerometerDataJNI.getRange(m_index);
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}
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/**
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* Change the range of this accelerometer.
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*
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* @param range the new accelerometer range
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*/
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public void setRange(int range) {
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AccelerometerDataJNI.setRange(m_index, range);
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}
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/**
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* Register a callback to be run whenever the X axis value changes.
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*
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* @param callback the callback
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* @param initialNotify whether to call the callback with the initial state
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* @return the {@link CallbackStore} object associated with this callback.
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*/
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public CallbackStore registerXCallback(NotifyCallback callback, boolean initialNotify) {
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int uid = AccelerometerDataJNI.registerXCallback(m_index, callback, initialNotify);
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return new CallbackStore(m_index, uid, AccelerometerDataJNI::cancelXCallback);
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}
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/**
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* Measure the X axis value.
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*
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* @return the X axis measurement
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*/
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public double getX() {
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return AccelerometerDataJNI.getX(m_index);
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}
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/**
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* Change the X axis value of the accelerometer.
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*
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* @param x the new reading of the X axis
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*/
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public void setX(double x) {
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AccelerometerDataJNI.setX(m_index, x);
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}
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/**
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* Register a callback to be run whenever the Y axis value changes.
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*
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* @param callback the callback
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* @param initialNotify whether to call the callback with the initial state
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* @return the {@link CallbackStore} object associated with this callback.
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*/
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public CallbackStore registerYCallback(NotifyCallback callback, boolean initialNotify) {
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int uid = AccelerometerDataJNI.registerYCallback(m_index, callback, initialNotify);
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return new CallbackStore(m_index, uid, AccelerometerDataJNI::cancelYCallback);
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}
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/**
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* Measure the Y axis value.
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*
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* @return the Y axis measurement
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*/
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public double getY() {
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return AccelerometerDataJNI.getY(m_index);
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}
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/**
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* Change the Y axis value of the accelerometer.
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*
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* @param y the new reading of the Y axis
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*/
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public void setY(double y) {
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AccelerometerDataJNI.setY(m_index, y);
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}
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/**
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* Register a callback to be run whenever the Z axis value changes.
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*
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* @param callback the callback
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* @param initialNotify whether to call the callback with the initial state
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* @return the {@link CallbackStore} object associated with this callback.
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*/
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public CallbackStore registerZCallback(NotifyCallback callback, boolean initialNotify) {
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int uid = AccelerometerDataJNI.registerZCallback(m_index, callback, initialNotify);
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return new CallbackStore(m_index, uid, AccelerometerDataJNI::cancelZCallback);
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}
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/**
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* Measure the Z axis value.
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*
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* @return the Z axis measurement
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*/
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public double getZ() {
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return AccelerometerDataJNI.getZ(m_index);
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}
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/**
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* Change the Z axis value of the accelerometer.
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*
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* @param z the new reading of the Z axis
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*/
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public void setZ(double z) {
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AccelerometerDataJNI.setZ(m_index, z);
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}
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/** Reset all simulation data of this object. */
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public void resetData() {
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AccelerometerDataJNI.resetData(m_index);
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}
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}
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