Allowed sharing of common C++ code between RoboRIO and Simulation.

Change-Id: I8bf2bda9df389c13ae0567a62dbf0ca931ceb6f8

wpilibc/wpilibC++Devices/src/AnalogAccelerometer.cpp

@@ -0,0 +1,137 @@
+/*----------------------------------------------------------------------------*/
+/* 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()
+{
+	m_table = NULL;
+	m_voltsPerG = 1.0;
+	m_zeroGVoltage = 2.5;
+	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.
+ */
+AnalogAccelerometer::AnalogAccelerometer(uint32_t channel)
+{
+	m_AnalogInput = new AnalogInput(channel);
+	m_allocatedChannel = true;
+	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.
+ */
+AnalogAccelerometer::AnalogAccelerometer(AnalogInput *channel)
+{
+	if (channel == NULL)
+	{
+		wpi_setWPIError(NullParameter);
+	}
+	else
+	{
+		m_AnalogInput = channel;
+		InitAccelerometer();
+	}
+	m_allocatedChannel = false;
+}
+
+/**
+ * Delete the analog components used for the accelerometer.
+ */
+AnalogAccelerometer::~AnalogAccelerometer()
+{
+	if (m_allocatedChannel)
+	{
+		delete m_AnalogInput;
+	}
+}
+
+/**
+ * Return the acceleration in Gs.
+ *
+ * The acceleration is returned units of Gs.
+ *
+ * @return The current acceleration of the sensor in Gs.
+ */
+float AnalogAccelerometer::GetAcceleration()
+{
+	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 varys 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 varys 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 != NULL) {
+		m_table->PutNumber("Value", GetAcceleration());
+	}
+}
+
+void AnalogAccelerometer::StartLiveWindowMode() {
+}
+
+void AnalogAccelerometer::StopLiveWindowMode() {
+}
+
+std::string AnalogAccelerometer::GetSmartDashboardType() {
+	return "Accelerometer";
+}
+
+void AnalogAccelerometer::InitTable(ITable *subTable) {
+	m_table = subTable;
+	UpdateTable();
+}
+
+ITable * AnalogAccelerometer::GetTable() {
+	return m_table;
+}