WPILib Reorganization

This is a major restructuring of the WPILib repository to simply build
procedures and remove the remnants of Maven from everything except the
eclipse plugins. Gradle files have been largely simplified or rewritten,
taking advantage of splitting up parts of the build into separate build
files for ease of reading.

The eclipse plugins are now in a separate project, as is ntcore. All
dependencies are resolved via Maven dependencies, with the
Jenkins-maintained WPILib repo. Project structures have also been
simplified: we no longer have separate subprojects inside wpilibc and
wpilibj. Where possible, these changes hav been done with git renames,
to make sure we still have full history for all repositories. Other
unrelated subprojects have also been broken out: OutlineViewer is now a
separate project.

Change-Id: Ib4e2a6e1a2f66427a14f16612b0e0d69ed661878

wpilibc/Athena/src/AnalogAccelerometer.cpp

@@ -0,0 +1,134 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. 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.  */
+/*----------------------------------------------------------------------------*/
+
+#include "AnalogAccelerometer.h"
+//#include "NetworkCommunication/UsageReporting.h"
+#include "WPIErrors.h"
+#include "LiveWindow/LiveWindow.h"
+
+/**
+ * Common function for initializing the accelerometer.
+ */
+void AnalogAccelerometer::InitAccelerometer() {
+  HALReport(HALUsageReporting::kResourceType_Accelerometer,
+            m_analogInput->GetChannel());
+  LiveWindow::GetInstance()->AddSensor("Accelerometer",
+                                       m_analogInput->GetChannel(), this);
+}
+
+/**
+ * Create a new instance of an accelerometer.
+ * The constructor allocates desired analog input.
+ * @param channel The channel number for the analog input the accelerometer is
+ * connected to
+ */
+AnalogAccelerometer::AnalogAccelerometer(int32_t channel) {
+  m_analogInput = std::make_shared<AnalogInput>(channel);
+  InitAccelerometer();
+}
+
+/**
+ * Create a new instance of Accelerometer from an existing AnalogInput.
+ * Make a new instance of accelerometer given an AnalogInput. This is
+ * particularly useful if the port is going to be read as an analog channel as
+ * well as through the Accelerometer class.
+ * @param channel The existing AnalogInput object for the analog input the
+ * accelerometer is connected to
+ */
+DEPRECATED(
+    "Raw pointers are deprecated; if you just want to construct an "
+    "AnalogAccelerometer with its own AnalogInput, then call the "
+    "AnalogAccelerometer(int channel). If you want to keep your own copy of "
+    "the AnalogInput, use std::shared_ptr.")
+AnalogAccelerometer::AnalogAccelerometer(AnalogInput *channel)
+    : m_analogInput(channel, NullDeleter<AnalogInput>()) {
+  if (channel == nullptr) {
+    wpi_setWPIError(NullParameter);
+  } else {
+    InitAccelerometer();
+  }
+}
+
+/**
+ * Create a new instance of Accelerometer from an existing AnalogInput.
+ * Make a new instance of accelerometer given an AnalogInput. This is
+ * particularly useful if the port is going to be read as an analog channel as
+ * well as through the Accelerometer class.
+ * @param channel The existing AnalogInput object for the analog input the
+ * accelerometer is connected to
+ */
+AnalogAccelerometer::AnalogAccelerometer(std::shared_ptr<AnalogInput> channel)
+    : m_analogInput(channel) {
+  if (channel == nullptr) {
+    wpi_setWPIError(NullParameter);
+  } else {
+    InitAccelerometer();
+  }
+}
+
+/**
+ * Return the acceleration in Gs.
+ *
+ * The acceleration is returned units of Gs.
+ *
+ * @return The current acceleration of the sensor in Gs.
+ */
+float AnalogAccelerometer::GetAcceleration() const {
+  return (m_analogInput->GetAverageVoltage() - m_zeroGVoltage) / m_voltsPerG;
+}
+
+/**
+ * Set the accelerometer sensitivity.
+ *
+ * This sets the sensitivity of the accelerometer used for calculating the
+ * acceleration.
+ * The sensitivity varies by accelerometer model. There are constants defined
+ * for various models.
+ *
+ * @param sensitivity The sensitivity of accelerometer in Volts per G.
+ */
+void AnalogAccelerometer::SetSensitivity(float sensitivity) {
+  m_voltsPerG = sensitivity;
+}
+
+/**
+ * Set the voltage that corresponds to 0 G.
+ *
+ * The zero G voltage varies by accelerometer model. There are constants defined
+ * for various models.
+ *
+ * @param zero The zero G voltage.
+ */
+void AnalogAccelerometer::SetZero(float zero) { m_zeroGVoltage = zero; }
+
+/**
+ * Get the Acceleration for the PID Source parent.
+ *
+ * @return The current acceleration in Gs.
+ */
+double AnalogAccelerometer::PIDGet() { return GetAcceleration(); }
+
+void AnalogAccelerometer::UpdateTable() {
+  if (m_table != nullptr) {
+    m_table->PutNumber("Value", GetAcceleration());
+  }
+}
+
+void AnalogAccelerometer::StartLiveWindowMode() {}
+
+void AnalogAccelerometer::StopLiveWindowMode() {}
+
+std::string AnalogAccelerometer::GetSmartDashboardType() const {
+  return "Accelerometer";
+}
+
+void AnalogAccelerometer::InitTable(std::shared_ptr<ITable> subTable) {
+  m_table = subTable;
+  UpdateTable();
+}
+
+std::shared_ptr<ITable> AnalogAccelerometer::GetTable() const { return m_table; }