Added BuiltInAccelerometer in Java and updated C++

Change-Id: I5a3360c51334e85da6a15fd640f9420bc3b64dca

wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/BuiltInAccelerometer.java

@@ -0,0 +1,105 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014. 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.  */
+/*----------------------------------------------------------------------------*/
+package edu.wpi.first.wpilibj;
+import edu.wpi.first.wpilibj.hal.AccelerometerJNI;
+import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
+import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.livewindow.LiveWindow;
+import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
+import edu.wpi.first.wpilibj.parsing.ISensor;
+import edu.wpi.first.wpilibj.tables.ITable;
+
+/**
+ * Built-in accelerometer.
+ *
+ * This class allows access to the RoboRIO's internal accelerometer.
+ */
+public class BuiltInAccelerometer implements ISensor, LiveWindowSendable
+{
+	public enum Range { k2G, k4G, k8G }
+
+	/**
+	 * Constructor.
+	 * @param range The range the accelerometer will measure
+	 */
+	public BuiltInAccelerometer(Range range) {
+		AccelerometerJNI.setAccelerometerActive(false);
+
+		switch(range) {
+		case k2G:
+			AccelerometerJNI.setAccelerometerRange(0);
+			break;
+		case k4G:
+			AccelerometerJNI.setAccelerometerRange(1);
+			break;
+		case k8G:
+			AccelerometerJNI.setAccelerometerRange(2);
+			break;
+		}
+
+		AccelerometerJNI.setAccelerometerActive(true);
+
+		UsageReporting.report(tResourceType.kResourceType_Accelerometer, 0, 0, "Built-in accelerometer");
+	}
+
+	/**
+	 * Constructor.
+	 * The accelerometer will measure +/-8 g-forces
+	 */
+	public BuiltInAccelerometer() {
+		this(Range.k8G);
+	}
+
+	/**
+	 * @return The acceleration of the RoboRIO along the X axis in g-forces
+	 */
+	public double getX() {
+		return AccelerometerJNI.getAccelerometerX();
+	}
+
+	/**
+	 * @return The acceleration of the RoboRIO along the Y axis in g-forces
+	 */
+	public double getY() {
+		return AccelerometerJNI.getAccelerometerY();
+	}
+
+	/**
+	 * @return The acceleration of the RoboRIO along the Z axis in g-forces
+	 */
+	public double getZ() {
+		return AccelerometerJNI.getAccelerometerZ();
+	}
+
+	public String getSmartDashboardType(){
+		return "Accelerometer";
+	}
+
+	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() {}
+};

wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/hal/AccelerometerJNI.java

@@ -0,0 +1,9 @@
+package edu.wpi.first.wpilibj.hal;
+
+public class AccelerometerJNI extends JNIWrapper {
+	public static native void setAccelerometerActive(boolean active);
+	public static native void setAccelerometerRange(int range);
+	public static native double getAccelerometerX();
+	public static native double getAccelerometerY();
+	public static native double getAccelerometerZ();
+}