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Merge "Make 3 axis Accelerometers work in LiveWindow. Fixes artf3902."

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This commit is contained in:
Brad Miller (WPI)
2014-12-30 21:05:26 -08:00
committed by Gerrit Code Review
parent fb7f5e9de8 7db63055f6
commit 769e778d99
8 changed files with 140 additions and 7 deletions
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12
wpilibc/wpilibC++Devices/include/ADXL345_I2C.h
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@@ -7,6 +7,7 @@
#include "interfaces/Accelerometer.h"
#include "I2C.h"
#include "LiveWindow/LiveWindowSendable.h"
/**
* ADXL345 Accelerometer on I2C.
@@ -14,7 +15,7 @@
* This class allows access to a Analog Devices ADXL345 3-axis accelerometer on an I2C bus.
* This class assumes the default (not alternate) sensor address of 0x1D (7-bit address).
*/
class ADXL345_I2C : public Accelerometer, public I2C
class ADXL345_I2C : public Accelerometer, public I2C, public LiveWindowSendable
{
protected:
static const uint8_t kAddress = 0x1D;
@@ -48,6 +49,15 @@ public:
virtual double GetAcceleration(Axes axis);
virtual AllAxes GetAccelerations();
virtual std::string GetSmartDashboardType();
virtual void InitTable(ITable *subtable);
virtual void UpdateTable();
virtual ITable* GetTable();
virtual void StartLiveWindowMode() {}
virtual void StopLiveWindowMode() {}
protected:
//I2C* m_i2c;
private:
ITable *m_table;
};

12
wpilibc/wpilibC++Devices/include/ADXL345_SPI.h
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@@ -8,6 +8,7 @@
#include "interfaces/Accelerometer.h"
#include "SensorBase.h"
#include "SPI.h"
#include "LiveWindow/LiveWindowSendable.h"
class DigitalInput;
class DigitalOutput;
@@ -18,7 +19,7 @@ class DigitalOutput;
* This class allows access to an Analog Devices ADXL345 3-axis accelerometer via SPI.
* This class assumes the sensor is wired in 4-wire SPI mode.
*/
class ADXL345_SPI : public Accelerometer, public SensorBase
class ADXL345_SPI : public Accelerometer, public SensorBase, public LiveWindowSendable
{
protected:
static const uint8_t kPowerCtlRegister = 0x2D;
@@ -52,9 +53,18 @@ public:
virtual double GetAcceleration(Axes axis);
virtual AllAxes GetAccelerations();
virtual std::string GetSmartDashboardType();
virtual void InitTable(ITable *subtable);
virtual void UpdateTable();
virtual ITable* GetTable();
virtual void StartLiveWindowMode() {}
virtual void StopLiveWindowMode() {}
protected:
void Init(Range range);
SPI* m_spi;
SPI::Port m_port;
private:
ITable *m_table;
};

23
wpilibc/wpilibC++Devices/src/ADXL345_I2C.cpp
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@@ -7,6 +7,7 @@
#include "ADXL345_I2C.h"
#include "I2C.h"
#include "HAL/HAL.hpp"
#include "LiveWindow/LiveWindow.h"
const uint8_t ADXL345_I2C::kAddress;
const uint8_t ADXL345_I2C::kPowerCtlRegister;
@@ -31,6 +32,7 @@ ADXL345_I2C::ADXL345_I2C(Port port, Range range):
SetRange(range);
HALReport(HALUsageReporting::kResourceType_ADXL345, HALUsageReporting::kADXL345_I2C, 0);
LiveWindow::GetInstance()->AddSensor("ADXL345_I2C", port, this);
}
/**
@@ -101,3 +103,24 @@ ADXL345_I2C::AllAxes ADXL345_I2C::GetAccelerations()
//}
return data;
}
std::string ADXL345_I2C::GetSmartDashboardType() {
return "3AxisAccelerometer";
}
void ADXL345_I2C::InitTable(ITable *subtable) {
m_table = subtable;
UpdateTable();
}
void ADXL345_I2C::UpdateTable() {
if (m_table != NULL) {
m_table->PutNumber("X", GetX());
m_table->PutNumber("Y", GetY());
m_table->PutNumber("Z", GetZ());
}
}
ITable* ADXL345_I2C::GetTable() {
return m_table;
}

23
wpilibc/wpilibC++Devices/src/ADXL345_SPI.cpp
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@@ -8,6 +8,7 @@
#include "DigitalInput.h"
#include "DigitalOutput.h"
#include "SPI.h"
#include "LiveWindow/LiveWindow.h"
const uint8_t ADXL345_SPI::kPowerCtlRegister;
const uint8_t ADXL345_SPI::kDataFormatRegister;
@@ -25,6 +26,7 @@ ADXL345_SPI::ADXL345_SPI(SPI::Port port, ADXL345_SPI::Range range)
{
m_port = port;
Init(range);
LiveWindow::GetInstance()->AddSensor("ADXL345_SPI", port, this);
}
/**
@@ -138,3 +140,24 @@ ADXL345_SPI::AllAxes ADXL345_SPI::GetAccelerations()
}
return data;
}
std::string ADXL345_SPI::GetSmartDashboardType() {
return "3AxisAccelerometer";
}
void ADXL345_SPI::InitTable(ITable *subtable) {
m_table = subtable;
UpdateTable();
}
void ADXL345_SPI::UpdateTable() {
if (m_table != NULL) {
m_table->PutNumber("X", GetX());
m_table->PutNumber("Y", GetY());
m_table->PutNumber("Z", GetZ());
}
}
ITable* ADXL345_SPI::GetTable() {
return m_table;
}

4
wpilibc/wpilibC++Devices/src/BuiltInAccelerometer.cpp
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@@ -7,6 +7,7 @@
#include "BuiltInAccelerometer.h"
#include "HAL/HAL.hpp"
#include "WPIErrors.h"
#include "LiveWindow/LiveWindow.h"
/**
* Constructor.
@@ -18,6 +19,7 @@ BuiltInAccelerometer::BuiltInAccelerometer(Range range)
SetRange(range);
HALReport(HALUsageReporting::kResourceType_Accelerometer, 0, 0, "Built-in accelerometer");
LiveWindow::GetInstance()->AddSensor((std::string)"BuiltInAccel",0, this);
}
BuiltInAccelerometer::~BuiltInAccelerometer()
@@ -62,7 +64,7 @@ double BuiltInAccelerometer::GetZ()
}
std::string BuiltInAccelerometer::GetSmartDashboardType() {
return "Accelerometer";
return "3AxisAccelerometer";
}
void BuiltInAccelerometer::InitTable(ITable *subtable) {

35
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/ADXL345_I2C.java
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@@ -10,12 +10,15 @@ import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tInst
import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
import edu.wpi.first.wpilibj.communication.UsageReporting;
import edu.wpi.first.wpilibj.interfaces.Accelerometer;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
import edu.wpi.first.wpilibj.tables.ITable;
/**
*
* @author dtjones
*/
public class ADXL345_I2C extends SensorBase implements Accelerometer {
public class ADXL345_I2C extends SensorBase implements Accelerometer, LiveWindowSendable {
private static final byte kAddress = 0x1D;
private static final byte kPowerCtlRegister = 0x2D;
@@ -65,6 +68,7 @@ public class ADXL345_I2C extends SensorBase implements Accelerometer {
setRange(range);
UsageReporting.report(tResourceType.kResourceType_ADXL345, tInstances.kADXL345_I2C);
LiveWindow.addSensor("ADXL345_I2C", port.getValue(), this);
}
/** {inheritdoc} */
@@ -146,5 +150,32 @@ public class ADXL345_I2C extends SensorBase implements Accelerometer {
return data;
}
// TODO: Support LiveWindow
public String getSmartDashboardType(){
return "3AxisAccelerometer";
}
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() {}
}

35
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/ADXL345_SPI.java
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@@ -13,13 +13,16 @@ import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tInst
import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
import edu.wpi.first.wpilibj.communication.UsageReporting;
import edu.wpi.first.wpilibj.interfaces.Accelerometer;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
import edu.wpi.first.wpilibj.tables.ITable;
/**
*
* @author dtjones
* @author mwills
*/
public class ADXL345_SPI extends SensorBase implements Accelerometer {
public class ADXL345_SPI extends SensorBase implements Accelerometer, LiveWindowSendable {
private static final int kPowerCtlRegister = 0x2D;
private static final int kDataFormatRegister = 0x31;
private static final int kDataRegister = 0x32;
@@ -75,6 +78,7 @@ public class ADXL345_SPI extends SensorBase implements Accelerometer {
public ADXL345_SPI(SPI.Port port, Range range) {
m_spi = new SPI(port);
init(range);
LiveWindow.addSensor("ADXL345_SPI", port.getValue(), this);
}
public void free(){
@@ -190,4 +194,33 @@ public class ADXL345_SPI extends SensorBase implements Accelerometer {
}
return data;
}
public String getSmartDashboardType(){
return "3AxisAccelerometer";
}
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() {}
}

3
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/BuiltInAccelerometer.java
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@@ -26,6 +26,7 @@ public class BuiltInAccelerometer implements Accelerometer, LiveWindowSendable
public BuiltInAccelerometer(Range range) {
setRange(range);
UsageReporting.report(tResourceType.kResourceType_Accelerometer, 0, 0, "Built-in accelerometer");
LiveWindow.addSensor("BuiltInAccel", 0, this);
}
/**
@@ -83,7 +84,7 @@ public class BuiltInAccelerometer implements Accelerometer, LiveWindowSendable
}
public String getSmartDashboardType(){
return "Accelerometer";
return "3AxisAccelerometer";
}
private ITable m_table;